changwuliu / ingvio Goto Github PK
View Code? Open in Web Editor NEWAn invariant filter to fuse monocular/stereo visual-inertial-raw GNSS.
An invariant filter to fuse monocular/stereo visual-inertial-raw GNSS.
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.
I was wondering whether InGVIO can run without GNSS, or somehow tolerate GPS outage? any statics?
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.
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.
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?
could you update this URL? 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!
thanks for the awesome work, please provide youtube video from uav dataset presented in the work
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
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!
A declarative, efficient, and flexible JavaScript library for building user interfaces.
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
The Web framework for perfectionists with deadlines.
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
We are working to build community through open source technology. NB: members must have two-factor auth.
Open source projects and samples from Microsoft.
Google ❤️ Open Source for everyone.
Alibaba Open Source for everyone
Data-Driven Documents codes.
China tencent open source team.