MoCap2GT: A High-Precision Ground Truth Estimator for SLAM Benchmarking Based on Motion Capture and IMU Fusion

Zichao Shu, Shitao Bei, Jicheng Dai +2

Marker-based optical motion capture (MoCap) systems are widely used to provide ground truth (GT) trajectories for benchmarking SLAM algorithms. However, the accuracy of MoCap-based…