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精度 #17

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jixiedaima opened this issue Dec 7, 2017 · 9 comments
Open

精度 #17

jixiedaima opened this issue Dec 7, 2017 · 9 comments

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@jixiedaima
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精度方面，单目的效果和okvis/VINS之间有没有进行对比过？
@jixiedaima
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单目和单目VIO的测试结果差不多，均方差都不打，但尺度都是真实尺度的5~6倍

@Jaypancool
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你这比较的是单目orb 和单目 orbvio ？

@jixiedaima
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恩，高博的vo和vio，双目和双目vio效果都差不多。　　　单目vio的尺度和真实尺度相差太大

@thornsu
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thornsu commented May 25, 2018

不知道为什么VIO的尺度也差的很多

@jixiedaima
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应该是这儿直接法与imu结合的不够好，京神的viorb尺度获取的蛮好的

@450932894
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请问！哪有 ROS版的YGZ-SLAM？还望告知 谢谢 # @jixiedaima @Jaypancool @thornsu

@jixiedaima
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这是自己改的

@factory-fish
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恩，高博的vo和vio，双目和双目vio效果都差不多。　　　单目vio的尺度和真实尺度相差太大

你好！我用ORB-YGZ-SLAM测试MH_01_easy数据时。原版的ORB-SLAM2的RMSE是0.04, 但是ORB-YGZ-SLAM的测试的RMSE是1.8. 精度降低了45倍

@veryneo
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veryneo commented Oct 25, 2021

恩，高博的vo和vio，双目和双目vio效果都差不多。　　　单目vio的尺度和真实尺度相差太大

你好！我用ORB-YGZ-SLAM测试MH_01_easy数据时。原版的ORB-SLAM2的RMSE是0.04, 但是ORB-YGZ-SLAM的测试的RMSE是1.8. 精度降低了45倍

你好，请问您研读过代码了吗，可以交流一下吗

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@jixiedaima @Jaypancool @thornsu @factory-fish @450932894 @veryneo