Online Dynamic Network solver
Davide A. Cucci, Aurélien A. Brun
davide.cucci@gmail.com, aurelien.brun@epfl.ch
With the collaboration and support of
Jan Skaloud
Geodetic Engineering Laboratory (TOPO)
Ecole Polytechnique Fédérale de Lausanne, Switzerland
jan.skaloud@epfl.ch
| Documentation | Report an issue |
| dn rev: 792cd57 | ROAMFREE rev: cffeced | built on 07-11-2025 05:52:26 |
Measurements
A single .zip file containing all input files must be provided below.
Files interpred in Global (WGS84) coordinate system by default. If data is expressed in 'Local' frame, please change corresponding setting under 'Processing options'
System configuration (optional)
A saved configuration can be restored providing a file below.
Coordinate System (In/Out)
Depending on input data, select if either local or global frame should be used for fusion.
Warning: only use 'Local' when fusing low quality IMU
IMU pre-integration
Number of IMU epochs to pre-integrate
Trajectory initialization
If an initial guess for the trajectory is not provided, the orientation of the body frame with respect to the vehicle should be provided.
Initial guess provided, automatic initialization disabled.
Lever arm (body -> Antenna, i.e., Antennab)
Lever arm uncertainty
Position
Precision (1-sigma)
Precision provided in the input file
Usefull for terrestrial & indoor applications with drifting position estimation (e.g. visual odometry)
Velocity
Precision (1-sigma)
Precision provided in the input file
Optionnal GNSS velocity data not provided
Lever arm (body -> IMU, i.e., IMUb)
Lever arm uncertainty
Mount + boresight (qbIMU) [unit quat]
Mount + boresight (RbIMU)
During the optimization, the quaternion value is used to define the mounting. If rotation matrix is used as input, make sure to hit the "convert to quaternion" button
Boresight uncertainty
Accelerometer
White Noise
First order Gauss-Markov 1
First order Gauss-Markov 2
First order Gauss-Markov 3
Gyroscope
White Noise
First order Gauss-Markov 1
First order Gauss-Markov 2
First order Gauss-Markov 3
Lever arm (body -> Camera, i.e., Camerab)
Lever arm uncertainty
Mount + boresight (qbCamera) [unit quat]
Mount + boresight (RbCamera)
During the optimization, the quaternion value is used to define the mounting. If rotation matrix is used as input, make sure to hit the "convert to quaternion" button
Boresight uncertainty
Intrinsic camera calibration
Intrinsic camera calibration uncertainty
Lens distortion
Extended lens distortion model
Lens distortion uncertainty
Image measurements precision (1-sigma)
Ground Control Points (selected) / Checkpoints
Selectd rows in the table below will be used as GCPs.
Image precision (1-sigma)
Precision on ground (1-sigma)
Tie Points data not provided
Lever arm (body -> LiDAR, i.e., LiDARb)
Lever arm uncertainty
Mount + boresight (qbLiDAR) [unit quat]
During the optimization, the quaternion value is used to define the mounting. If rotation matrix is used as input, make sure to hit the "convert to quaternion" button