Calibration
Note: All ground-truth poses have been synchronized with the event camera’s clock source. These ground-truth poses are represented in MoCap frame (obtained by OptiTrack) or LiDAR frames (obtained by FasterLIO). Other sensors’ data is not synchronized, time offset parameters are here.
We also provide utils tools to convert from our data to ROS bag format: here
Time offset parameters (second)
EventCamera: 0.0
MiniCheetahJoint: 0.004611
VectorNav: -0.004012
RealSense (depth camera): 0.004611
Velodyne: 0.003044
E.g. Time_event = Time_vectornav - 0.004012