About the details of the dataset.

[wystephen]

Hi, thanks for publishing the dataset.
But, I cannot find some information on the README of the dataset.

1. As you described in another reply [https://github.com/Questions about dataset setup #1#issuecomment-787528558].
   The global reference frame is not gravity-aligned. And there is some drift on the z-axis of the global frame.
   So, I am confused that the position is global consistency in the whole dataset(in the same building)?

2. By the way, could you please give the definition of the ground truth quaternion and pos? (Is the quaternion represent the rotation from the stencil IMU frame to the global frame, and the pos represent the stencil IMU position in the global frame?)

3. could you provide the rotation and translation between the stencil IMU and the iPhone?

4. If is it possible to provide the MSE loss in the train, seen, and unseen dataset during training the TLIO?

[chenxingxin-star]

@wystephen
Hi,I have the similar questions.Are you have the answer about your question 2 ? I also want to know whether the ground truth quaternion represent the rotation from the stencil IMU frame to the global frame. I try to train the TLIO model using this dataset but failed, may you give me some guidance about how to transform this dataset to TLIO format? thank you !!!!

[wystephen]

The meant of provided data is not clear.