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rpng / MINS

An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.
GNU General Public License v3.0
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Test on Kaist dataset? #33

Open YZH-bot opened 2 months ago

YZH-bot commented 2 months ago

@WoosikLee2510 Dear author, may I ask why my tests on Kaist urban dataset urban18.bag are stratified, or misaligned (such as the light pole in the figure)? I am testing with the default config _kaistLC parameter image and, I noticed that at the beginning, the point cloud map was badly misaligned, seemingly rotated 90 degrees. image

Do you have any advice? Thanks!

YZH-bot commented 2 months ago

And the ground looks so thick and noise as shown in the figure image Does anyone have this problem? Thanks