From 25ae128a83181684763bffd53d30028ca0201360 Mon Sep 17 00:00:00 2001 From: Youjie Xia Date: Sat, 12 May 2018 14:47:31 -0400 Subject: [PATCH] Update README.md --- README.md | 17 ++++++++++++----- 1 file changed, 12 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 71f9d07..253a365 100644 --- a/README.md +++ b/README.md @@ -2,8 +2,11 @@ The repository includes the **Monocular** version and the **Stereo** version of **Visual-Inertial ORB-SLAM**. These two are the no ros version of [jingpang](https://github.com/jingpang)'s **LearnVIORB (https://github.com/jingpang/LearnVIORB) and [ZuoJiaxing](https://github.com/ZuoJiaxing)'s **[**LearnVIORBnorosgai2**](https://github.com/ZuoJiaxing/LearnVIORBnorosgai2)**. For details, you may refer to `Examples/Monocular/mono_euroc_VI.cc` and `Examples/Stereo/stereo_euroc_VI.cc`. -I have fix some bugs to make it more stable to pass through more datasets and modify the code to make it compatible with [ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2). Not bug-free. Not real-time. For Stereo version, it does not support the Localization mode yet. +I have fix some bugs to make it more stable to pass through more datasets and modify the code to make it compatible with [ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2). +Not bug-free. Not real-time. + +If you think this repo is useful, please ***watch***, ***star*** or ***fork*** it! ## TO DO List - [ ] Real-time @@ -50,10 +53,6 @@ MH_01_easy The temp results are stored at *tmp_result/mono_VI/* and *tmp_result/stereo_VI/* for Monocular and Stereo VI ORB-SLAM respectively. In each folder, files about camera poses, IMU biases, scale are saved. -### Visualization -The example visualizations on the dataset **MH_04_difficult** are at *visualizations* folder. - - ### Quantitative Evaluation Here we use the translation RMSE (m) of the keyframe trajectory as the metric. The results are shown below. @@ -77,6 +76,14 @@ Here we use the translation RMSE (m) of the keyframe trajectory as the metric. > > *** The right two columns are results of this repository obtained on laptop. +### Visualization +The example visualizations on the dataset **MH_04_difficult** are at *visualizations* folder. + +![Trajectories in MH_04_difficult](visualizations/MH_04_difficult.png) + +![Error projected on trajectory in MH_04_difficult](visualizations/MH_04_difficult_error.png) + +![Accelerator biases](visualizations/ba.png) -----