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I test VINS-MONO noloop using Cam-pinhole-color realsense d435i with Handsfree IMU, the ape is worse than Cam-pinhole-color realsense d435i with buildin IMU, do you know why?
The coordination frame of VI-sensor is that x points to right, y points to down, z points to front. While the coordination frame of Handsfree is that x points to left, y points to front, z points to up.
and the extrinsic information between VI-sensor and LiDAR,
Thanks.
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