Comments (5)
Hi. Are you visualizing the trajectory of Kimera-VIO or Kimera-Multi?
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You can align the trajectories with the ground truth trajectories given and use the resulting transform to transform your constructed map.
from kimera-multi-data.
from kimera-multi-data.
Apologies, I just re-read your question:
Hi I used kimera_multi dataset to implement MR-SLAM, but i don't know the starting coordinates to start running the dataset so i start all at origin coordinate (0,0,0) at rviz, this problem causes no overlap area between the trajectories or many wrong overlapped area. The final constructed map is not matched with the groundtruth map, so how can i resolve this problem?
I think this is more of a fundamental problem with the MR-SLAM algorithm. I would recommend you to check out our multi-robot SLAM system, Kimera-Multi. We are able to deal with scenarios without initial calibrations on locations.
https://github.com/MIT-SPARK/Kimera-Multi
Closing this thread now because the issue is irrelevant to the datasets.
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Related Issues (12)
- Request Campus-Outdoor DataSet HOT 1
- Question about start times and RPY of ground-truth
- Campus-Outdoor Data Testing and Custom YAML Configuration with Kimera-Multi HOT 1
- Question about time sync HOT 3
- Dataset isn't working on ORBSLAM2 RGBD
- Questions about extrinsic parameter HOT 3
- Requst Dataset HOT 2
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- Request Campus-Outdoor for Kimera-Multi Test HOT 1
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