hyhuang1995 / gmmloc Goto Github PK

Hello!
Thanks for sharing your work!
Tn order to study related issues of VIO couple with pre-bulilt We record our own data(mono image sequence and imu data) and want to test on gmmloc, but failed because gmm only support stereo format, can you help us with running this data with gmmloc?
Thanks for your time!

I find your excellent new work https://hyhuang1995.github.io/bareg/ . I have read your paper。may I ask do you have
a schedule to open source your code？

Hi Huang,
Thanks for sharing your greate job.
I am recently working on a Tightly-Coupled VIO wth Pre-built Map related topic, and prepare to summit a paper. I want to evaluate gmmloc with my own datasets. In order to get the best results, I modified some code, such as using ground truth to get stereo match, depth, and pose to project gmm map, and load gmm map with another format. However, it still perfroms not so well(ATE is much more huge than other methods). Can you help me to find out reasons?
I fork your rep as https://github.com/Chanchanhan/gmmloc, and you can download my dataset (Euroc format) from https://cowtransfer.com/s/484a2ece6e0746, 'indoor.launch' is the launch file for this dataset.
Qian

你好，我有一个问题，就是如何构建基于gmm的先验地图呢？是把原始的点云地图按一定网格分割，然后分别对每个网格计算gmm吗？

Hi @HyHuang1995 Thanks for your great works!

Will the code for the paper "Geometric Structure Aided Visual Inertial Localization" be open sourced here? I saw the url in the paper.

Thanks!

Hey! Thanks for sharing the localization work!
By now I have read your paper and downloaded the code, meanwhile trying to compile it.
I saw the running exampe of Euroc Vicon Rooms and found there were v1.gmm and v2.gmm local maps located in the data folder.
So I wondered that how to generate a brand new map and saved as a gmm?
Should I ran a pipeline like Orb-slam2 or Vins-Fusion to generate map points in the world coordinate and saved all map points in the glocal map of keyframes in the end?
And then I found there were interface functions such as loadGMMModel and saveGMMModel, so how to import the map points to generate the GMMModel, in order to utilize the GMM Map in the second run?
Thanks for sharing the localization project again, which was just located in the region I'm researching for recently!