New Feature: Support for NTU-VIRAL Dataset

[xuankuzcr]

🎉 We’ve added support for the NTU-VIRAL dataset! Here’s what’s included:

• Launch file and unified parameters for all sequences.
• A more user-friendly evaluation method handling PRISM-IMU extrinsic parameters.
• RMSE improved from ~6cm (FAST-LIVO2 paper) to ~2cm, outperforming VIRAL-SLAM, BALM2, etc. (best result in SLAM systems to date).
• Runtime to data duration ratio is 1:6.

我们新增了对NTU-VIRAL数据集的支持！具体更新如下：

• 提供了launch文件和适用于所有序列的统一参数。
• 提供了一套更友好的评估方法，考虑了棱镜与IMU的外参。
• RMSE从约 6cm (FAST-LIVO2论文中的实验结果) 提升至约 2cm (当前开源版本)，优于VIRAL-SLAM和BALM2等 (是目前据我所知SLAM系统中的最佳结果）。
• 耗时与数据时长的比例为1:6。

Scene	Sequence	RMSE (cm)
eee	01	2.71
eee	02	2.11
eee	03	2.61
nya	01	3.56
nya	02	3.39
nya	03	3.52
sbs	01	2.34
sbs	02	2.83
sbs	03	3.11

[xuankuzcr]

[1391741823]

太厉害了郑博！附上论文里面其他模型的精度：（单位：m）

论文链接： https://arxiv.org/pdf/2202.00379

NTU_VIRAL dataset链接： https://ntu-aris.github.io/ntu_viral_dataset/

[JingYCB]

Hello and thank you for your excellent work. When running the data eee01.bag with the configuration file you provided, I can only achieve an accuracy of 2.4-2.6 dm after multiple attempts, how do I need to adjust it to achieve the best accuracy?

[Xujiaming1]

Hello, you probably didn't consider the extrinsic conversion between IMU and PRISM coordinate systems before comparing the accuracy. Please refer to the author's link for details: https://github.com/hku-mars/FAST-LIVO2/blob/main/Log/result/ntu_viral/evaluate_viral.py

[xuankuzcr]

@JingYCB Please follow the evaluation guidance.

[JingYCB]

Hello, you probably didn't consider the extrinsic conversion between IMU and PRISM coordinate systems before comparing the accuracy. Please refer to the author's link for details: https://github.com/hku-mars/FAST-LIVO2/blob/main/Log/result/ntu_viral/evaluate_viral.py Thank you very much, resolved

[JingYCB]

@JingYCB Please follow the evaluation guidance. Thank you very much, resolved

[JingYCB]

When running fastlio2, do we also need to consider the extrinsic conversion between IMU and PRISM coordinate systems before comparing the accuracy? Further, under what circumstances do we need to convert to this coordinate system? Thank you very much.