When open source VINS-Mono initialization for comparing with drt init

boxuLibrary / drt-vio-init

The official repository of our CVPR2023 paper "A Rotation-Translation-Decoupled Solution for Robust and Efficient Visual-Inertial Initialization".

GNU General Public License v3.0

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When open source VINS-Mono initialization for comparing with drt init #13

Closed wuerhan closed 7 months ago

wuerhan commented 7 months ago

I use same dateset to run VINS-Mono initialization and drt initialization. when I evaluate the total trajectory accuracy, the results reveal tracking accuracy of VINS_MONO is three to five times better than using drt initialization. I see the scale using drt initialization has larger error, but I don't know why.

boxuLibrary commented 7 months ago

Hi, thank you for your concern. I think you should check the initialization results for VINS-Mono and our method, such as gravity error, bias error etc. I think this will help you to analysis the results of the total trajectory accuracy.

Alex-Beh commented 7 months ago

@wuerhan Would you mind sharing your experiment steps? Could you explain how you achieved it? I am also interested in this topic and am willing to offer help if I can.