gs14iitbbs

Evaluating Monocular ORB-SLAM/ORB-SLAM2 on KITTI dataset

4

Hi, I want to evaluate monocular ORB-SLAM or Monocular ORB-SLAM2 on KITTI driving dataset. But the format of KITTI groundtruth is > timestamp a b c d e f g...

Please can you also provide intrinsic parameters of the camera ?

Using custom data with colmap initialized poses.

1

I have recorded simple custom data and got the Colmap poses. When I run using BARF or GARF, the pose errors decrease (R 96 degrees, t about 18), but PSNR...