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hyz_VIO

修改的VIN-Mono和点线vio文件夹都包含一个录屏视频和记录运动轨迹的文件

VIO结果在Nvidia TX2上运行进行测试

1.VINS-Mono和修改的VINS在EuRoC数据集表现

RMSE: 修改的VINS VINS-Mono
V1_01_easy 0.0442 0.068(论文给出)
V1_02_medium 0.0692 0.084(论文给出)
V1_03_difficult 0.0744 0.19(论文给出)
V2_02_medium 0.0857 0.16(论文给出)
MH_02_easy 0.0723 0.12(论文给出)
MH_05_difficult 0.1543 0.21(论文给出)

2.VINS-Mono和点线VIO在EuRoC数据集表现

RMSE: 点线VIO VINS-Mono
MH_05_difficult 0.1592 0.21(论文给出)

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