changwuliu / ingvio Goto Github PK

我下载了您的代码，编译出现以上问题，感觉好像是您的代码上传缺少了一部分

could you update this URL? thanks

In the paper, at the end of section V, you make the following statement:

The meter-level difference of the estimated path of GVINS [23] or InGVIO to the RTK ground truth is attributed to the inaccuracy of the atmospherical propagation models of the pseudo range.

If I am not mistaken, GVINS and InGVIO are using only pseudo-range and pseudo-range rate / Doppler shift measurements and no phase-range measurements, which would require ambiguity resolution. Did you exclude phase-range measurements from the RTK ground truth computation? If not, I would expect the meter-level difference because of considering phase-range measurements in RTK and less about the atmospherical modeling. Of course, improving atmospherical modeling will improve the result, but probably not close the gap to RTK in my view.

Thanks a lot for providing the code on github and the paper on arxiv. I am studying the paper carefully and got stuck in section B on conditional infinitesimal symmetries of GVIO. If I understand it correctly, proposition 2 addresses the dot product of the pseudo-range rate measurements. It derives the infinitesimal symmetry of the pseudo-range rate measurements. What about the norm of the pseudo-range measurements? Is the infinitesimal symmetry of pseudo-range given by the one of the rate?

Sorry to disturb you.Have you ever used vins-fusion to test your dataset only in mode stereo+imu or the global-fusion mode. I found that the drift is so big.Maybe my config yaml is not right.Hope that if you have tested before,you can solve my problem.Thanks.

Hi, great job and thanks for your open source!

I would like to ask that what is the difference between invariant and consistent in the context of EKF?

Hope to hear from you!

I was wondering whether InGVIO can run without GNSS, or somehow tolerate GPS outage? any statics?

thanks for the awesome work, please provide youtube video from uav dataset presented in the work

尊敬的作者您好，感谢开源此项目，想请教下进addNewTrackedSys函数的逻辑是什么，以及updateTrackedSys和addNewTrackedSys这两个函数的区别，谢谢！

Hello, I wanna know that your derivation of all equations was in form of JPL or Hamilton quaternion. Because you referred to OpenVINS and it is based on JPL quaternion. Was the state transition matrix F also derived in form of JPL? I am looking forward to your reply.