lichunshang / deep_ekf_vio Goto Github PK

Hello,Your works are so perfect ,When I read your paper,I have some questions about details:
According to youe codes, the training sets are 00、01、02、04、05、06、08、09 and 10, but in the paper,you have presented the result about 04、06、07、08、09 and 10, I don't understand Why you present them? Does it make sense? I Will be appreciate your answer.

Hello，your work is so meaningful，I have a question. In Training section, the order 'python3 main.py --description<experiment_desciprtion> --gpu_id 0', what is the experiment_description ?

Hi,
Thanks for sharing this code. @lichunshang
got this error .

File "/home/ubuntu/deep_ekf_vio/model.py", line 177, in update S = mm(mm(H, pred_covar), H_transpose) + vis_meas_covar RuntimeError: The size of tensor a (16) must match the size of tensor b (6) at non-singleton dimension 1
best
arkin

Hello, your work is very meaningful. I have a question that I want to ask you, and I look forward to your reply.The sequences of Kitti do not start from a standstill. How can I determine the initial speed of imu so that the imu trajectory has the correct scale?