Deep Inertial-Only Velocity Aided Estimation for Quadrotors
conda create -f environment.yaml
or
conda create -n dive python=3.10
conda activate dive
conda install nvidia/label/cuda-11.8.0::cuda-toolkit
pip install torch==2.6.0 torchvision==0.21.0 torchaudio==2.6.0 --index-url https://download.pytorch.org/whl/cu118
pip install lightning tensorboard numpy h5py matplotlib pandas scipy seaborn torchviz pymap3d
pip install git+https://github.com/decargroup/pymlg.git
pip install git+https://github.com/decargroup/navlie.git
the navlie package will install pymlg as a dependency.
DIDO Dataset
git clone https://github.com/sejun-ahn/DIDO
the original repository is here (@zhangkunyi/DIDO)
set the directory at network/train.py
python network/train.py
the trained checkpoints are at lightning_logs/validation_checkpoints
tensorboard --logdir .
and you can check the tensorboard logs
python syn_pseudo/velocity_regressor_dido.py
the estimated results are at <root_dir>/<filter_output_folder/<file_target>/<filter_output_name>
python visualizer/plot_syn_dido.py