Monado SLAM Dataset - MIPB08 Postprocessing
Channel: Mateo de Mayo
Date: 2023-08-29

This is a walkthrough of all the steps involved in postprocessing one of the datasets in the Monado SLAM Datasets: https://huggingface.co/datasets/collabora/monado-slam-datasets

- Why the accelerometer model has 3 less DoF in its matrix than the gyroscope's: https://gitlab.com/VladyslavUsenko/basalt-headers/-/issues/8

Timestamps:

00:00 Introduction
06:54 Sequences overview
11:05 Presenting example dataset to sanitize
13:28 Cameras calibration
22:14 Cameras-IMU calibration
28:32 Cameras-IMU-MoCap calibration
34:29 Verifying calibration and datasets
39:25 Groundtruth-IMU timestamp alignment
47:30 Cameras-IMU timestamp alignment
54:15 Correct for IMU alignment, scale, and bias
57:30 Final words