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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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problem about the urban30.bag dataset result #48

Open aidadgy opened 1 week ago

aidadgy commented 1 week ago

Hello author, I conducted experiments using the publicly available dataset urban30.txt and recorded the results of the true and estimated values, which are path_data.txt path_data2.txt. I evaluated them using evo_ape tum path_data.txt path_data2.txt - a-p - s. The results are as follows: 2024-11-21 17-12-52 的屏幕截图 But I found that the RMSE index is 9.25, which cannot achieve the accuracy mentioned in your paper，Do you know what the reason is，thanks 2024-11-10 14-10-26屏幕截图

Happy-ZZX commented 5 hours ago

Hi, I think you have misunderstood the meaning. The author said in the paper the ATE is per 1km, not entire trajectory. Hope this can help you.