MoCap2GT jointly optimizes MoCap and IMU data using cubic B-splines on SE(3) with a variable time offset to generate SLAM ground truth trajectories that meet targets of ATE/ARE below 2 mm/0.2 deg and RTE/RRE below 0.4 mm/0.02 deg.
NeRF-VINS: A real-time neural radiance field map- based visual-inertial navigation system,
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MoCap2GT: A High-Precision Ground Truth Estimator for SLAM Benchmarking Based on Motion Capture and IMU Fusion
MoCap2GT jointly optimizes MoCap and IMU data using cubic B-splines on SE(3) with a variable time offset to generate SLAM ground truth trajectories that meet targets of ATE/ARE below 2 mm/0.2 deg and RTE/RRE below 0.4 mm/0.02 deg.