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bytedance / SchurVINS

[CVPR2024] SchurVINS: Schur Complement-Based Lightweight Visual Inertial Navigation System
GNU General Public License v3.0
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The scale of the odometry #10

Open ouguangjun opened 4 months ago

ouguangjun commented 4 months ago

I try to test SchurVins on dataset, the partial results of Vinsfusion and SchurVins are shown below:

微信截图_20240618145330

The result appears to be a stable and smoother run by schurvin, but the scale of the odometry seems to be much larger than the ground truth. I only modified the Topic, intrinsic and external parameters of the sensor, and the parameters of the algorithm were not adjusted.