Spatial-temporal calibration on EuRoC
0Rotation Error (degree)Kalibr
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| KalibrFrequency=20 Hz, Camera=C02025.09 | 0 | 0 | 0.035 | 0.373 | 144.17 | — | — | |
| KalibrFrequency=20 Hz, Camera=C12025.09 | 0 | 0 | 0.035 | 0.373 | 144.17 | — | — | |
| KalibrFrequency=10 Hz, Camera=C02025.09 | 0.009 | 0.025 | 0.044 | 0.375 | 108.134 | — | — | |
| KalibrFrequency=10 Hz, Camera=C12025.09 | 0.009 | 0.025 | 0.044 | 0.375 | 108.134 | — | — | |
| DT-VI-Calib (Midpoint)Frequency=10 Hz, Camera=C02025.09 | 0.009 | 0.039 | 0.068 | 0.211 | 0.14 | 772.386 | 107.6 | |
| DT-VI-Calib (Euler)Frequency=20 Hz, Camera=C02025.09 | 0.012 | 0.045 | 2.456 | 0.208 | 0.289 | — | — | |
| DT-VI-Calib (Euler)Frequency=10 Hz, Camera=C02025.09 | 0.014 | 0.073 | 2.449 | 0.21 | 0.136 | — | — | |
| DT-VI-Calib (Midpoint)Frequency=20 Hz, Camera=C12025.09 | 0.014 | 0.048 | 0.043 | 0.209 | 0.29 | 497.138 | 51.445 | |
| DT-VI-Calib (Midpoint)Frequency=20 Hz, Camera=C02025.09 | 0.015 | 0.039 | 0.043 | 0.209 | 0.29 | 497.138 | 51.445 | |
| DT-VI-Calib (Midpoint)Frequency=10 Hz, Camera=C12025.09 | 0.015 | 0.05 | 0.068 | 0.211 | 0.14 | 772.386 | 107.6 | |
| DT-VI-Calib (Euler)Frequency=20 Hz, Camera=C12025.09 | 0.023 | 0.049 | 2.456 | 0.208 | 0.289 | — | — | |
| KalibrFrequency=5 Hz, Camera=C02025.09 | 0.024 | 0.078 | 0.066 | 0.374 | 51.255 | — | — | |
| KalibrFrequency=5 Hz, Camera=C12025.09 | 0.024 | 0.078 | 0.066 | 0.374 | 51.255 | — | — | |
| DT-VI-Calib (Euler)Frequency=10 Hz, Camera=C12025.09 | 0.028 | 0.075 | 2.449 | 0.21 | 0.136 | — | — | |
| DT-VI-Calib (Midpoint)Frequency=5 Hz, Camera=C02025.09 | 0.041 | 0.047 | 0.158 | 0.213 | 0.081 | 632.778 | 194.198 | |
| DT-VI-Calib (Midpoint)Frequency=5 Hz, Camera=C12025.09 | 0.047 | 0.058 | 0.158 | 0.213 | 0.081 | 632.778 | 194.198 | |
| DT-VI-Calib (Euler)Frequency=5 Hz, Camera=C02025.09 | 0.09 | 0.301 | 2.483 | 0.217 | 0.189 | — | — | |
| DT-VI-Calib (Euler)Frequency=5 Hz, Camera=C12025.09 | 0.103 | 0.296 | 2.483 | 0.217 | 0.189 | — | — | |
| BasaltFrequency=5 Hz, Camera=C02025.09 | 0.437 | 0.506 | 10.529 | 0.246 | 15.73 | — | — | |
| BasaltFrequency=5 Hz, Camera=C12025.09 | 0.444 | 0.506 | 10.529 | 0.246 | 15.73 | — | — | |
| BasaltFrequency=10 Hz, Camera=C02025.09 | 0.486 | 0.798 | 11.397 | 0.266 | 15.064 | — | — | |
| BasaltFrequency=10 Hz, Camera=C12025.09 | 0.492 | 0.798 | 11.397 | 0.266 | 15.064 | — | — | |
| BasaltFrequency=20 Hz, Camera=C02025.09 | 0.497 | 0.87 | 12.971 | 0.263 | 14.919 | — | — | |
| BasaltFrequency=20 Hz, Camera=C12025.09 | 0.502 | 0.87 | 12.971 | 0.263 | 14.919 | — | — |