Regarding the calculation of gyr bias RMSE and acc bias RMSE, how is gyr and acc bias groundtruth obtained? Do you use the data in the ”state groundtruth estimate0/data/” folder?
As far as I know, paper[The EuRoC micro aerial vehicle datasets] points out that the gyroscope bias and accelerometer bias values provided in the EuRoC datasets are estimated using a classical maximum likelihood state estimation.
So can we treat it as a groundtruth? This question bothers me.
Looking forward to your reply.

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