Prerequisites

• Python 3
• TensorFlow
• Keras
• NumPy
• Matplotlib
• scikit-learn
• Pandas
• SciPy
• numpy-quaternion
• tfquaternion

Run python3 -m pip install requirements.txt to install the prerequisites.

Training

Dataset used OxIOD Oxford Inertial Odometry Dataset.

Pretrained models

Pretrained model is available in code folder named btp.hdf5

Evaluation

1. Download the desired dataset and unzip it into the project folder (the path should be "<project folder>/Oxford Inertial Odometry Dataset/handheld/data<id>/")
2. Run python3 evaluate.py dataset model, where dataset is oxiod and model is the trained model file path (e.g. 6dofio_oxiod.hdf5).