search

kminoda / VIODE

VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments
92 stars 9 forks source link

Regd. the IMU intrinsic parameters #1

Closed karnikram closed 3 years ago

karnikram commented 3 years ago

Hi,

Thank you for your work on this dataset, it is very useful.

I noticed that the provided IMU noise parameters are much higher than the true values provided in AirSim. Can I know how these values were determined?

The performance of VINS is very sensitive to the calibration parameters, especially the IMU values, hence my query.

kminoda commented 3 years ago

Hi karnikram,

Thank you for the question!

We have determined the value high enough so that VINS-Fusion (and VINS-Mono) works fine without any noisy drifts. (This is because, during our experiment, setting the true noise parameter defined in the given link sometimes caused a huge drift.)

karnikram commented 3 years ago

Hi @kminoda, that's interesting, thanks for letting me know!