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Learned Uncertainty Calibration

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

Setup

  1. Install dependencies: numpy, scipy, matplotlib.
  2. Build XIVO. Ensure that cmake uses the same version of Python 3.
  3. Set the environment variable XIVO_ROOT to the root of XIVO source code.
  4. Follow instructions in this file

Replicating the paper

Commands for executing the experiments in ``Learned Uncertainty Calibration for Visual Inertial Localization" are here.