A collection of Python scripts that connect to SLAM systems and analyze their covariance estimates on various datasets.
Currently supports XIVO with the following datasets:
- TUMVI VIO
- XIVO dataset distributed with XIVO
- Install dependencies: numpy, scipy, matplotlib.
- Build XIVO. Ensure that cmake uses the same version of Python 3.
- Set the environment variable
XIVO_ROOT
to the root of XIVO source code. - Follow instructions in this file
Commands for executing the experiments in ``Learned Uncertainty Calibration for Visual Inertial Localization" are here.