search

tum-vision / lsd_slam

LSD-SLAM
GNU General Public License v3.0
2.58k stars 1.23k forks source link

EuRoC dataset execution and evaluation #265

Open Toumi0812 opened 6 years ago

Toumi0812 commented 6 years ago

Hi everyone, Do you know how to set up the configuration file for EuRoC dataset sequences for LSD_SLAM? and how to compare results with the ground truth?

Thanks

MichaelGrupp commented 6 years ago

I didn't run it on EuRoC yet, but the easiest way is probably to play the ROS bag files from their website. Then you need to give the correct ROS topic names as parameters to the LSD SLAM node together with a calibration parameter file for rectification, as written in the README.

Maybe useful for you: I wrote an evaluation tool that supports different datasets, also EuRoC. With this, you can run metrics with the groundtruth .csv from the EuRoC dataset (<seq>/mav0/state_groundtruth_estimate0/data.csv in the folder version of the dataset) and the estimated trajectory from LSD SLAM in the TUM benchmark format. Keep in mind that you need to consider scale issues of monocular SLAM, as I mentioned here.

jwangjie commented 5 years ago

I was wondering has anyone successfully evaluated LSD SLAM with EuRoC dataset? Could you specify a little bit how you implement it? Thanks a lot.