jzhuai0108/ekfmonoslam

SLAM using a monocular camera, optionally an IMU, and GPS

ekfmonoslam's Issues

a formula issue

Hi Huai,
The function 'Renew( filter, newGrpPts)' in the fuction file 'EKF_filter_s0frame.m':
when 'add new feature points to the states and add the new Key frame to the KeyFrames, and update covariance', the following two lines:
Gmat(endIndex+(1:3), filter.imuOrientSIP+(0:2))=eye(3); % for qs0 2 s
Gmat(endIndex+(4:6), 7:9)=eye(3); % for Ts0 2s
could u explain it ?

How to get the data in file of kittiseq00_imu_samplesnoisy.txt?

Hi,Huai
In your orb_slam DWO,how to get the data in file of kittiseq00_imu_samplesnoisy.txt ??
Thank you very much!!!

Simulate noisy IMU data

when i simulated IMU data in your way,i can not find "poseFile="/media/jhuai/Mag/KITTISeq00/00.txt";" in kittiseq00 dataset,i already succeeding in coping with Tsukuba 3G stereo dataset. so,could U give me some help to simulate imu data from kittiseq00? I have no idea of "poseFile" in kittiSeq00.

data set for code

Hi, can you please provide your dataset to test the code

how to test the code with KITTI data

camera model

Hi Huai，
Thank you for sharing your code . Nowadays I am trying to modify the ekfslam to run my own dataset.But I get confused by the Civera's classic model as in Civera, 2008 . I don't what the relationship between k1 k2 in Civera's classic model to the general opencv radial distortion. Can you give a answer? Thank you.