Unexpected relative error.

uzh-rpg / rpg_trajectory_evaluation

Toolbox for quantitative trajectory evaluation of VO/VIO

MIT License

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Unexpected relative error. #16

Closed JJQ7 closed 5 years ago

JJQ7 commented 5 years ago

Hi, Thanks for providing this useful tool. But something wrong happened. I evaluate the VINS-Mono on this tool. The alignment is correct, while the translation errors seem to be larger than the result showed in the aligned trajectory. Could anyone offer some advices? Great Thanks!

JJQ7 commented 5 years ago

sjoaij commented 5 years ago

I meet same question

sjoaij commented 5 years ago

@zhangzichao

kminoda commented 4 years ago

I also faced the same problem. Did you get to solve this? @JJQ7

JJQ7 commented 4 years ago

I also faced the same problem. Did you get to solve this? @JJQ7

Euroc dataset provides two ground-truth trajectories. a) the inertial coordinate frame. b) the camera coordinate frame. Most of the algorithms estimate the trajectory of IMU (a). If using (b), the problem may occur.