This repository contains NavMamba, NavTR, NavLSTM: Learning-Based GPS + INS Error Correction.

Create a conda virtaul environment and activate:

conda create -n navmamba python=3.8 -y
conda activate navmamba

Install PyTorch and libraries:

pip install -r requirements.txt

Download KITTI Raw dataset: link

To train the model with KITTI:

python train_nav.py \
  --root /path/to/kitti_raw/ \
  --model NavMamba \
  --device cuda:0 \
  --save_dir ./out/NavMamba/

• Full result description
• Evaluation on more datasets: nuScenes and Argoverse2 will be posted.