jzhuai0108 / ekfmonoslam Goto Github PK
View Code? Open in Web Editor NEWSLAM using a monocular camera, optionally an IMU, and GPS
License: Other
SLAM using a monocular camera, optionally an IMU, and GPS
License: Other
when i simulated IMU data in your way,i can not find "poseFile="/media/jhuai/Mag/KITTISeq00/00.txt";" in kittiseq00 dataset,i already succeeding in coping with Tsukuba 3G stereo dataset. so,could U give me some help to simulate imu data from kittiseq00? I have no idea of "poseFile" in kittiSeq00.
Hi Huai,
Thank you for sharing your code . Nowadays I am trying to modify the ekfslam to run my own dataset.But I get confused by the Civera's classic model as in Civera, 2008 . I don't what the relationship between k1 k2 in Civera's classic model to the general opencv radial distortion. Can you give a answer? Thank you.
Hi,Huai
In your orb_slam DWO,how to get the data in file of kittiseq00_imu_samplesnoisy.txt ??
Thank you very much!!!
Hi, can you please provide your dataset to test the code
Hi Huai,
The function 'Renew( filter, newGrpPts)' in the fuction file 'EKF_filter_s0frame.m':
when 'add new feature points to the states and add the new Key frame to the KeyFrames, and update covariance', the following two lines:
Gmat(endIndex+(1:3), filter.imuOrientSIP+(0:2))=eye(3); % for qs0 2 s
Gmat(endIndex+(4:6), 7:9)=eye(3); % for Ts0 2s
could u explain it ?
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