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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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Does anyone know how to reproduce MINS #43

Closed aidadgy closed 1 month ago

aidadgy commented 1 month ago

Does anyone know how to reproduce MINS

WoosikLee2510 commented 1 month ago

Hi, @aidadgy you should be able to reproduce MINS KAIST benchmark results in the paper by running roslaunch mins rosbag.launch with config files under kaist and running comparison algorithm, e.g., roslaunch mins_eval comparison.launch align_mode:=se3 path_alg:="$BASEDIR/algorithms/" path_gts:="$BASEDIR/truths/" viz_type:="8" > "$BASEDIR/output_se3.txt"