april-zju / ctrl-vio Goto Github PK

Hi,

Firstly, I really appreciate the effort and dedication you've put into developing and sharing this great work.

I've been testing your code using "TUM-RSVI Dataset", but I couldn't get the result reported in your paper.

I extracted every keyframe pose in tum trajectory format and evaluated with groud truth using evo.

All of parameters are same with paper.

Could you help me?

Thanks for your work. How is the real-time performance of the method? I'm interested in this.

Great work! hope to see your codes soon.

-Deliang

Thank you for sharing nice work.
I'm evaluating ORB-SLAM3 on sensetime dataset, to reproduce the result on your paper.
When I run ORB-SLAM3 with this dataset, it produces error frequently.
such as, "Fail to track local map!".
So I have the following questions.

1. How did you set the for ORB-SLAM3 such as IMU noise and ORBextractor.nFeatures?
2. In your paper you mentioned that "we disable the loop detection and pose graph optimization of VINS-Mono and ORB-SLAM3 for pure VIO evaluations." How did you disable these on ORB-SLAM3?

Your answer will be really appreciated.