Noise parameters for TUM Dataset

[joshi-bharat]

Hello,

@lachlan-nicholson I tried to test it on TUM dataset. It did not work as impressive as in paper. I wanted to know if you can publish the noise parameters and/or wrapper for TUM dataset.

Thanks

[lachlan-nicholson]

Definitely possible, I might try and get at this shortly. The noise parameters for the boundingbox factors are crucial for system performance. In the paper I describe a simple approach to estimate the covariance from the sum of width and height boundingbox standard deviation, and that worked okay