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weisongwen / UrbanLoco

UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes
https://advdataset2019.wixsite.com/urbanloco
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VINS MONO config file #8

Closed Sean0120 closed 3 years ago

Sean0120 commented 3 years ago

Hi, I want to run VINS-MONO on the data you provided. But I find that there are some parameters loss such as imu paramters and td. Also even if I fill in them manually, VINS-MONO would reboot from time to time. Can you provide the config file you used for VINS-MONO? Thanks for you attention and help.

weisongwen commented 3 years ago

Hi @Sean0120 which dataset are you using? The numerous dynamic objects in our dataset can be a large challenge for the VINS-Mono. You can try some easier datasets with a few dynamic objects.

To run the VINS-Mono demo, I suggest using the CA dataset and setup the noise parameters of IMU directly based on default parameters in VINS-Mono. My experience is that IMU the parameters in VINS-Mono is highly related to the parameters for the image reprojection.

Thanks, Weisong,

weisongwen commented 3 years ago

Closed as there is not reply for a long period. Feel free to reopen the issue if you get any issues.

Thanks, Weisong,