Subodh Mishra

Thanks for the response..,. sorry for posting here, I am actually asking about VINS-Mono not VINS-Mobile. Can I run VINS mono with the camera feed coming in at 60 Hz...

@SirVer, In case I do not want to use odometry and imu data, how should I set ` map_frame = "map", tracking_frame = "gyro_frame", published_frame = "odom", odom_frame = "odom",`...

I understand now that you use a VLP-16 sensor which is sparser than OS-128. So I think you are not much affected by the size of the pointcloud.

I don't get the question about time sync but I discovered that https://github.com/koide3/ndt_omp works ok on newer ubuntu and pcl. I have added a slightly modified version in the repository...

Looks like the issue is with the pointcloud, not with IMU readings.

I understand the problem... you cannot recover the full 6 DoF pose between the sensors if you cannot perform rotation about at-least two orthogonal axes. In your case, if you...

I will look for the second dataset and get back to you.

Oh there's a missing citation, but it's fairly standard. You may check the 5th page of this paper: https://journals.sagepub.com/doi/pdf/10.1177/027836499501400301

May be reading https://arxiv.org/abs/2104.12280 will provide more insights. Generic advice will be calibrate the IMU intrinsics, and most importantly exhibit motion which sufficiently excites all DoFs while collecting calibration data....

Have you sourced the workspace? To source: Run ` source devel/setup.bash` at the top level of your workspace. http://wiki.ros.org/catkin/Tutorials/create_a_workspace I have never tried running this on ros noetic.