Comments (14)
@Iqun1314 Hi, I am re-implementing RINS-W. Do you download the urban dataset and generate the ground-truth of RINS-W? I don't know how to generate the ground-truth of RINS-W by author. But according to my understanding of this article, the statistics I get are very different from the reported by the author. So, I hope to be able to communicate if you are re-implementing RINS-W.
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Ok,I will.
I had implemented another article https://arxiv.org/abs/1904.06064
The urban dataset is contained in the ZIP.
But I don't know how the author extract the dataset from the KITTI dataset.
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This is the paper of this repo. The code to extract the dataset is based on pyKitti.
Regarding the coe of RINS-W, we expect to put it online soonely :)
from ai-imu-dr.
This is the paper of this repo. The code to extract the dataset is based on pyKitti.
Regarding the coe of RINS-W, we expect to put it online soonely :)
Thank you for your reply. I'm looking forword to the code of RINS-W.
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@mbrossar Hi Martin, I am also very curious to know the details of the implementation of the RINS-W paper. The odometry performance is really good of RINS-W. Following up on the same ask since I saw your reply in March, do you plan to release the code soon in the near future? If so, roughly about when should we expect?
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I have put the code here, thank you for recalling me. There are few improvement with the paper, e.g. using CNN rather than LSTM, I let you see.
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@mbrossar Oh, thanks for such a prompt response! That was much quicker than I was expecting. Also thanks for uploading the code!
Just two quick questions:
In your paper it's using LSTM and in the code I see it's CNN. So you mean that the LSTM network has better performance than CNN?
I see you create the other repo yesterday/today. Seems that the code in that repo is not complete. In one file I see
from src.utils import pload, pdump, yload, ydump, mkdir, bmv
from src.utils import bmtm, bmtv, bmmt, pltt, plts, axat, pltt, plts
from src.lie_algebra import SO3, CPUSO3
from src.iekf import RecorderIEKF as IEKF
While lie_algebra.py file is there, I did not find iekf.py and utils.py files in the repo. Just to confirm with you.
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No, it is the opposite, I mean that CNN network has better performance than LSTM.
I am currently updated the second repo, you can now find iekf.py and utils.py files.
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@mbrossar now I can see all the files, thanks!
Maybe "performance" was not the right word I should use. In the README file, you said the CNN is faster to train than LSTM. I am curious if LSTM has better prediction accuracy than CNN. Could you comment on that from the validation test you did?
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I obtained better prediction accuracy with the CNN along with better time execution.
In the readme, I indicate CNN is faster to train than LSTM, which is in fact true. As performance of LSTM and CNN depends on hyperparameter, I can just say that, on my experiments, CNN were better.
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Can you confirm if Brossard's code on:
https://github.com/mbrossar/RINS-W
has the python tools by which to convert a dataset in KITTI format into Brossard's
particular python pickle format ready to be injected into his program in ai-imu-dr ?
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@Iqun1314 From your posts, I think you had access to the training data and the trained model.
Could you please share it with us?
Apparently, many followers of AI-IMU DR including the author Martin are looking for these data and model.
You may upload it to a cloud service provider like google drive or baidu cloud, and share the link with us.
Thank you so much.
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I found out that Brossard's code has the means to transform KITTI files into Brossard's pickle files which are composed of 5 python dictionaries apart from time. It is within main_kitty.py. Now his pickle file data dictionaries are made of u (accel+gyro), and quantities like p_gt which depend on lat/lon , v_gt is velocity Rot_gt are rotation matrices depending on roll, pitch and yaw. These are indexed and synchronized with the timestamp dictionary 't'. What I don't know is how GPS outage is modeled. Brossard's original data could tell us that. How do you work a test case where you only have u? ie. u and no GPS? For KITTI files, the standard is to replace the last 3 integer numbers with -1, but Brossard's code ignores such numbers. Can anyone tell me out GPS outage is modeled insofar as the test pickle files are concerned?
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Pickle files are now available at new url, please see the readme
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Related Issues (20)
- Issue on the ai-imu-dr with the compiling and running python main file. HOT 7
- Cannot access url for data and train parameters HOT 1
- train parameters size mismatch HOT 37
- Case 2011_10_03_drive_0027_extract - what happened?
- fixing the torch.gesv in utils_torch_filter.py HOT 3
- Train filter failure with error: TypeError: zeros() received an invalid combination of arguments - got (NoneType, int, int), HOT 6
- about sup.pdf HOT 5
- Code's equation not same with the paper HOT 21
- The checkpoint is not same with current model? Fail to load state_dict
- Reason for no end frame for some of the sequences
- Eq. 6 of Brossard's paper: Rotation matrix must be confined in x-y plane. HOT 6
- Issues with the comparison between the estimated position and ground-truth one
- Anyone knows what's the meaning of odometry_benchmark and odometry_benchmark_img? HOT 1
- Eq. 11 of the propagation step different from code (?) HOT 4
- unmatched iekfnets.p from dropbox HOT 5
- Asking for KITTI origin imu data(containing the origin timestamp file) of 09_30_0028
- IEKF nets NOT loaded
- Read data
- testing based on random weights also giving the same results as in paper HOT 9
- Training Loss of the network is fluctuating alot.
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