This goal of this project is to estimate the absolute scale of the trajectory generated by any SLAM algorithm by using the data from the IMU.

Dependencies: Matlab Runtime To Install Matlab runtime run the follwing commands:

wget https://ssd.mathworks.com/supportfiles/downloads/R2024a/Release/7/deployment_files/installer/complete/glnxa64/MATLAB_Runtime_R2024a_Update_7_glnxa64.zip
unzip MATLAB_Runtime_R2024a_Update_7_glnxa64.zip
cd MATLAB_Runtime_R2024a_Update_7_glnxa64
sudo ./install

Add the path to bash script:

gedit/nano ~/.bashrc

Add the following lines at the end of the scipt:

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/MATLAB/MATLAB_Runtime/vXX/bin/glnxa64
export XAPPLRESDIR=/usr/local/MATLAB/MATLAB_Runtime/vXX/X11/app-defaults

Source the bach scipt:

source ~/.bashrc

Make sure that the data folder is in the project path. All the datasets that are to be used should be saved in the data folder. Each dataset folder should contain:

poses.txt -  from the slam algorithm
accelerometer.txt - from the IMU
gyroscope.txt - from the IMU

To build the project:

cd InertialScaleC-Matlab
mkdir build && cd build
cmake ..
make

To the run the program:

./estimate_scale dataset_name