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In EuRoC V101 dataset, the estimated trajectory has a big error! #5
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Hi, you will need to change the parameters. I will add some example parameter files for EUROC as well as a general instruction for parameters soon. |
Okay, Thanks. |
Hi, we added some example launch files and parameters for EuRoC datasets. Should be better than the default one and also helps with the issue #3 . |
Hi, I got everything to run and just tried the EuRoC dataset MH_01_easy in stereo mode using the launch file: euroc_stereo_imu.launch . Thanks a lot for the great software! |
Hi,
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Hey, great thank you very much for your fast answer!
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Hi, I use the default pinhole.yaml config file and test V101 dataset with my machine Intel® Core™ i5-4570 CPU @ 3.20GHz × 4 . Sometimes the estimator runs through to the end without tracking failed, sometimes, it cannot run to the end. For the first situation, I've got the below trajectory:
And for the latter situation, I got the below trajectory, with a big error:
scale: 2.650539
compared_pose_pairs 1651 pairs
absolute_translational_error.rmse 0.539003 m
absolute_translational_error.mean 0.464468 m
absolute_translational_error.median 0.451905 m
absolute_translational_error.std 0.273484 m
absolute_translational_error.min 0.101481 m
absolute_translational_error.max 1.536845 m
How can I improve the performance by tuning the parameters?
As a matter of fact, I notice in your paper that, your SVO2 program runs well on all EuRoC datasets. Shown as below chart:
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