diff --git a/config/calib/00/ba_calib.yml b/config/calib/00/ba_calib.yml
new file mode 100644
index 0000000..fc9cc97
--- /dev/null
+++ b/config/calib/00/ba_calib.yml
@@ -0,0 +1,12 @@
+BaseDir: ../KITTI-00/
+KeyFrameDir: KeyFrames/
+VOFile: slam_res/Twc.txt
+LOFile: slam_res/floam_isam_00.txt
+init_sim3: calib_res/he_rb_calib_00.txt
+ORBVocabulary: ../data/Vocabulary/ORBvoc.txt
+ORBConfig: ../config/orb_ori/KITTI00-02.yaml
+VOIdFile: FrameId.yml
+MapFile: Map.yml
+ResFile: calib_res/ba_local_calib_00.txt
+method: local # global or local
+method_options: {"global":1,"local":2}
\ No newline at end of file
diff --git a/config/calib/00/he_calib.yml b/config/calib/00/he_calib.yml
new file mode 100644
index 0000000..e29749f
--- /dev/null
+++ b/config/calib/00/he_calib.yml
@@ -0,0 +1,22 @@
+%YAML:1.0
+---
+io:
+  BaseDir: ../KITTI-00/
+  VOFile: slam_res/Twc.txt
+  LOFile: slam_res/floam_isam_00.txt
+  VOIdFile: FrameId.yml
+  ResFile: calib_res/he_calib_00.txt
+  ResRBFile: calib_res/he_rb_calib_00.txt
+  ResLPFile: calib_res/he_lp_calib_00.txt
+
+runtime:
+  zero_translation: true
+  regulation: true
+  robust_kernel_size: 0.3
+  regulation_weight: 1.0E-3
+  inner_iter: 10
+  ex_iter: 20
+  init_mu: 64
+  divide_factor: 1.4
+  min_mu: 0.01
+  verborse: true
diff --git a/config/calib/00/iba_calib_global.yml b/config/calib/00/iba_calib_global.yml
new file mode 100644
index 0000000..572eda6
--- /dev/null
+++ b/config/calib/00/iba_calib_global.yml
@@ -0,0 +1,48 @@
+%YAML:1.0
+---
+io:
+  BaseDir: ../KITTI-00/
+  VOFile: slam_res/Twc.txt
+  LOFile: slam_res/floam_isam_00.txt
+  VOIdFile: FrameId.yml
+  ResFile: calib_res/iba_global_pl_00.txt
+  init_sim3: calib_res/he_rb_calib_00.txt
+  gt_sim3: calib_res/gt_calib_00.txt
+  PointCloudDir: ../data/00/velodyne
+  PointCloudskip: 1
+  PointCloudOnlyPositiveX: true 
+orb:
+  Vocabulary: ../data/Vocabulary/ORBvoc.txt
+  Config: ../config/orb_ori/KITTI00-02.yaml
+  KeyFrameDir: ../KITTI-00/KeyFrames/
+  MapFile: ../KITTI-00/Map.yml
+
+runtime:
+  max_pixel_dist: 1.5
+  num_best_covis: 3 # set negative to use min_covis_weight
+  min_covis_weight: 100
+  min_rot_diff: 0.03
+  kdtree2d_max_leaf_size: 10
+  kdtree3d_max_leaf_size: 30
+  corr_3d_2d_threshold: 40
+  corr_3d_3d_threshold: 10
+  norm_max_pts: 30
+  norm_min_pts: 5
+  norm_radius: 0.6
+  norm_reg_threshold: 0.02  # 0.02
+  min_diff_dist: 0.2 # 0.2
+  he_threshold: 0.094
+  err_weight: [1.0, 1.0]
+  init_frame: [0.5,0.5,0.5,0.5,0.5,0.5,0.5]
+  min_mesh: 1.0E-6
+  lb: [-0.1,-0.1,-0.1,-0.3,-0.3,-0.3,-1.0]
+  ub: [0.1,0.1,0.1,0.3,0.3,0.3,1.0]
+  max_bbeval: 5000
+  valid_rate: 0.95
+  seed: 0
+  use_vns: true
+  direction_type: 2N
+  use_cache: false
+  cacheFile: ../KITTI-00/cache/cache_00_d1.5_fuse_wide.txt
+  verborse: true
+  use_plane: true  # set to false for the ablation study
\ No newline at end of file
diff --git a/config/calib/02/he_calib.yml b/config/calib/02/he_calib.yml
new file mode 100644
index 0000000..67057ed
--- /dev/null
+++ b/config/calib/02/he_calib.yml
@@ -0,0 +1,22 @@
+%YAML:1.0
+---
+io:
+  BaseDir: ../KITTI-02/
+  VOFile: slam_res/Twc.txt
+  LOFile: slam_res/floam_isam_02.txt
+  VOIdFile: FrameId.yml
+  ResFile: calib_res/he_calib_02.txt
+  ResRBFile: calib_res/he_rb_calib_02.txt
+  ResLPFile: calib_res/he_lp_calib_02.txt
+
+runtime:
+  zero_translation: true
+  regulation: true
+  robust_kernel_size: 0.3
+  regulation_weight: 1.0E-3
+  inner_iter: 10
+  ex_iter: 20
+  init_mu: 64
+  divide_factor: 1.4
+  min_mu: 0.01
+  verborse: true
diff --git a/config/calib/02/iba_calib_global.yml b/config/calib/02/iba_calib_global.yml
new file mode 100644
index 0000000..6ceee88
--- /dev/null
+++ b/config/calib/02/iba_calib_global.yml
@@ -0,0 +1,47 @@
+%YAML:1.0
+---
+io:
+  BaseDir: ../KITTI-02/
+  VOFile: slam_res/Twc.txt
+  LOFile: slam_res/floam_isam_02.txt
+  VOIdFile: FrameId.yml
+  ResFile: calib_res/iba_global_pl_02.txt
+  init_sim3: calib_res/he_lp_calib_02.txt
+  gt_sim3: calib_res/gt_calib_02.txt
+  PointCloudDir: ../data/02/velodyne
+  PointCloudskip: 1
+  PointCloudOnlyPositiveX: true 
+orb:
+  Vocabulary: ../data/Vocabulary/ORBvoc.txt
+  Config: ../config/orb_ori/KITTI00-02.yaml
+  KeyFrameDir: ../KITTI-02/KeyFrames/
+  MapFile: ../KITTI-02/Map.yml
+
+runtime:
+  max_pixel_dist: 1.5
+  num_best_covis: 3 # set negative to use min_covis_weight
+  min_covis_weight: 200
+  kdtree2d_max_leaf_size: 10
+  kdtree3d_max_leaf_size: 30
+  corr_3d_2d_threshold: 40
+  corr_3d_3d_threshold: 10
+  norm_max_pts: 30
+  norm_min_pts: 5
+  norm_radius: 0.6
+  norm_reg_threshold: 0.02
+  min_diff_dist: 0.2
+  he_threshold: 0.146
+  err_weight: [1.0, 1.0]
+  init_frame: [0.1,0.1,0.1,0.3,0.3,0.3,1.0]  # [0.1,0.1,0.1,0.3,0.3,0.3,1.0]
+  min_mesh: 1.0E-6
+  lb: [-0.15,-0.15,-0.15,-0.3,-0.3,-0.3,-1.5]
+  ub: [0.15,0.15,0.15,0.3,0.3,0.3,1.5]
+  max_bbeval: 5000
+  valid_rate: 0.95
+  seed: 0
+  use_vns: true
+  direction_type: 2N
+  use_cache: false
+  cacheFile: ../KITTI-02/cache/cache_02_d1.5_fuse_wide.txt
+  verborse: true
+  use_plane: true  # set to false for the ablation study
\ No newline at end of file
diff --git a/config/calib/03/he_calib.yml b/config/calib/03/he_calib.yml
new file mode 100644
index 0000000..9f3e11a
--- /dev/null
+++ b/config/calib/03/he_calib.yml
@@ -0,0 +1,22 @@
+%YAML:1.0
+---
+io:
+  BaseDir: ../KITTI-03/
+  VOFile: slam_res/Twc.txt
+  LOFile: slam_res/floam_raw_03.txt
+  VOIdFile: FrameId.yml
+  ResFile: calib_res/he_calib_03.txt
+  ResRBFile: calib_res/he_rb_calib_03.txt
+  ResLPFile: calib_res/he_lp_calib_03.txt
+
+runtime:
+  zero_translation: true
+  regulation: true
+  robust_kernel_size: 0.15
+  regulation_weight: 1.0E-3
+  inner_iter: 10
+  ex_iter: 20
+  init_mu: 64
+  divide_factor: 1.4
+  min_mu: 0.01
+  verborse: true
diff --git a/config/calib/03/iba_calib_global.yml b/config/calib/03/iba_calib_global.yml
new file mode 100644
index 0000000..4fdd4b1
--- /dev/null
+++ b/config/calib/03/iba_calib_global.yml
@@ -0,0 +1,47 @@
+%YAML:1.0
+---
+io:
+  BaseDir: ../KITTI-03/
+  VOFile: slam_res/Twc.txt
+  LOFile: slam_res/floam_raw_03.txt
+  VOIdFile: FrameId.yml
+  ResFile: calib_res/iba_global_pl_03.txt
+  init_sim3: calib_res/he_rb_calib_03.txt
+  gt_sim3: calib_res/gt_calib_03.txt
+  PointCloudDir: ../data/03/velodyne
+  PointCloudskip: 1
+  PointCloudOnlyPositiveX: true 
+orb:
+  Vocabulary: ../data/Vocabulary/ORBvoc.txt
+  Config: ../config/orb_ori/KITTI03.yaml
+  KeyFrameDir: ../KITTI-03/KeyFrames/
+  MapFile: ../KITTI-03/Map.yml
+
+runtime:
+  max_pixel_dist: 1.5
+  num_best_covis: 3 # set negative to use min_covis_weight
+  min_covis_weight: 200
+  kdtree2d_max_leaf_size: 10
+  kdtree3d_max_leaf_size: 30
+  corr_3d_2d_threshold: 40
+  corr_3d_3d_threshold: 10
+  norm_max_pts: 30
+  norm_min_pts: 3
+  norm_radius: 0.6
+  norm_reg_threshold: 0.02
+  min_diff_dist: 0.2
+  he_threshold: 0.035
+  err_weight: [1.0, 1.0]
+  init_frame: [0.1,0.1,0.1,0.3,0.3,0.3,1.0]  # ratio of anisotropic maximum mesh
+  min_mesh: 1.0E-6
+  lb: [-0.1,-0.1,-0.1,-0.3,-0.3,-0.3,-1.0]
+  ub: [0.1,0.1,0.1,0.3,0.3,0.3,1.0]
+  max_bbeval: 5000
+  valid_rate: 0.95
+  seed: 0
+  use_vns: true
+  direction_type: N+1 QUAD
+  use_cache: true
+  cacheFile: ../KITTI-03/cache/cache_pl.txt
+  verborse: true
+  use_plane: true  # set to false for the ablation study
\ No newline at end of file
diff --git a/config/calib/04/he_calib.yml b/config/calib/04/he_calib.yml
new file mode 100644
index 0000000..a2b73b2
--- /dev/null
+++ b/config/calib/04/he_calib.yml
@@ -0,0 +1,22 @@
+%YAML:1.0
+---
+io:
+  BaseDir: ../KITTI-04/
+  VOFile: slam_res/Twc.txt
+  LOFile: slam_res/floam_raw_04.txt
+  VOIdFile: FrameId.yml
+  ResFile: calib_res/he_calib_04.txt
+  ResRBFile: calib_res/he_rb_calib_04.txt
+  ResLPFile: calib_res/he_lp_calib_04.txt
+
+runtime:
+  zero_translation: true
+  regulation: true
+  robust_kernel_size: 0.15
+  regulation_weight: 1.0E-3
+  inner_iter: 10
+  ex_iter: 20
+  init_mu: 64
+  divide_factor: 1.4
+  min_mu: 0.01
+  verborse: true
diff --git a/config/calib/04/iba_calib_global.yml b/config/calib/04/iba_calib_global.yml
new file mode 100644
index 0000000..4cea35e
--- /dev/null
+++ b/config/calib/04/iba_calib_global.yml
@@ -0,0 +1,47 @@
+%YAML:1.0
+---
+io:
+  BaseDir: ../KITTI-04/
+  VOFile: slam_res/Twc.txt
+  LOFile: slam_res/floam_raw_04.txt
+  VOIdFile: FrameId.yml
+  ResFile: calib_res/iba_global_pl2_04.txt
+  init_sim3: calib_res/he_rb_calib_04.txt
+  gt_sim3: calib_res/gt_calib_04.txt
+  PointCloudDir: ../data/04/velodyne
+  PointCloudskip: 1
+  PointCloudOnlyPositiveX: true 
+orb:
+  Vocabulary: ../data/Vocabulary/ORBvoc.txt
+  Config: ../config/orb_ori/KITTI04-12.yaml
+  KeyFrameDir: ../KITTI-04/KeyFrames/
+  MapFile: ../KITTI-04/Map.yml
+
+runtime:
+  max_pixel_dist: 1.5
+  num_best_covis: 3 # set negative to use min_covis_weight
+  min_covis_weight: 200
+  kdtree2d_max_leaf_size: 10
+  kdtree3d_max_leaf_size: 30
+  corr_3d_2d_threshold: 40
+  corr_3d_3d_threshold: 10
+  norm_max_pts: 30
+  norm_min_pts: 5
+  norm_radius: 0.6
+  norm_reg_threshold: 0.02
+  min_diff_dist: 0.2
+  he_threshold: 0.03
+  err_weight: [1.0, 1.0]
+  init_frame: [0.5,0.5,0.5,0.5,0.5,0.5,0.5]  # ratio of anisotropic maximum mesh
+  min_mesh: 1.0E-6
+  lb: [-0.1,-0.1,-0.1,-0.3,-0.3,-0.3,-1.0]
+  ub: [0.1,0.1,0.1,0.3,0.3,0.3,1.0]
+  max_bbeval: 5000
+  valid_rate: 0.95
+  seed: 0
+  use_vns: true
+  direction_type: 2N
+  use_cache: true
+  cacheFile: ../KITTI-04/cache/cache_pl.txt
+  verborse: true
+  use_plane: true  # set to false for the ablation study
\ No newline at end of file
diff --git a/config/calib/05/he_calib.yml b/config/calib/05/he_calib.yml
new file mode 100644
index 0000000..41e02cb
--- /dev/null
+++ b/config/calib/05/he_calib.yml
@@ -0,0 +1,22 @@
+%YAML:1.0
+---
+io:
+  BaseDir: ../KITTI-05/
+  VOFile: slam_res/Twc.txt
+  LOFile: slam_res/floam_isam_05.txt
+  VOIdFile: FrameId.yml
+  ResFile: calib_res/he_calib_05.txt
+  ResRBFile: calib_res/he_rb_calib_05.txt
+  ResLPFile: calib_res/he_lp_calib_05.txt
+
+runtime:
+  zero_translation: true
+  regulation: true
+  robust_kernel_size: 0.15
+  regulation_weight: 1.0E-3
+  inner_iter: 10
+  ex_iter: 20
+  init_mu: 64
+  divide_factor: 1.4
+  min_mu: 0.01
+  verborse: true
diff --git a/config/calib/05/iba_calib_global.yml b/config/calib/05/iba_calib_global.yml
new file mode 100644
index 0000000..3f4e0e4
--- /dev/null
+++ b/config/calib/05/iba_calib_global.yml
@@ -0,0 +1,50 @@
+%YAML:1.0
+---
+io:
+  BaseDir: ../KITTI-05/
+  VOFile: slam_res/Twc.txt
+  LOFile: slam_res/floam_isam_05.txt
+  VOIdFile: FrameId.yml
+  ResFile: calib_res/iba_global_pl.txt
+  init_sim3: calib_res/he_rb_calib_05.txt
+  zero_translation: false
+  gt_sim3: calib_res/gt_calib_05.txt
+  PointCloudDir: ../data/05/velodyne
+  PointCloudskip: 1
+  PointCloudOnlyPositiveX: true 
+orb:
+  Vocabulary: ../data/Vocabulary/ORBvoc.txt
+  Config: ../config/orb_ori/KITTI04-12.yaml
+  KeyFrameDir: ../KITTI-05/KeyFrames/
+  MapFile: ../KITTI-05/Map.yml
+
+runtime:
+  max_pixel_dist: 1.5
+  num_min_corr2d_3d: 30
+  num_best_covis: 3 # set negative to use min_covis_weight
+  min_covis_weight: 100
+  min_rot_diff: 0.03
+  kdtree2d_max_leaf_size: 10
+  kdtree3d_max_leaf_size: 30
+  corr_3d_2d_threshold: 40
+  corr_3d_3d_threshold: 10
+  norm_max_pts: 30
+  norm_min_pts: 5
+  norm_radius: 0.6
+  norm_reg_threshold: 0.02
+  min_diff_dist: 0.2
+  he_threshold: 0.07
+  err_weight: [1.0, 1.0]
+  init_frame: [0.5,0.5,0.5,0.5,0.5,0.5,0.5]   # 0.5 ratio of anisotropic maximum mesh
+  min_mesh: 1.0E-6
+  lb: [-0.1,-0.1,-0.1,-0.35,-0.3,-0.3,-1.0]
+  ub: [0.1,0.1,0.1,0.35,0.3,0.3,1.0]
+  max_bbeval: 5000
+  valid_rate: 0.95
+  seed: 0
+  use_vns: true
+  direction_type: N+1 QUAD
+  use_cache: false
+  cacheFile: ../KITTI-05/cache/cache_05_d1.5_fuse_wide.txt
+  verborse: true
+  use_plane: true  # set to false for the ablation study
\ No newline at end of file
diff --git a/config/calib/07/he_calib.yml b/config/calib/07/he_calib.yml
new file mode 100644
index 0000000..6b33336
--- /dev/null
+++ b/config/calib/07/he_calib.yml
@@ -0,0 +1,22 @@
+%YAML:1.0
+---
+io:
+  BaseDir: ../KITTI-07/
+  VOFile: slam_res/Twc.txt
+  LOFile: slam_res/floam_isam_07.txt
+  VOIdFile: FrameId.yml
+  ResFile: calib_res/he_calib_07.txt
+  ResRBFile: calib_res/he_rb_calib_07.txt
+  ResLPFile: calib_res/he_lp_calib_07.txt
+
+runtime:
+  zero_translation: true
+  regulation: true
+  robust_kernel_size: 0.15
+  regulation_weight: 1.0E-3
+  inner_iter: 10
+  ex_iter: 20
+  init_mu: 64
+  divide_factor: 1.4
+  min_mu: 0.01
+  verborse: true
diff --git a/config/calib/07/iba_calib_global.yml b/config/calib/07/iba_calib_global.yml
new file mode 100644
index 0000000..dd7e604
--- /dev/null
+++ b/config/calib/07/iba_calib_global.yml
@@ -0,0 +1,50 @@
+%YAML:1.0
+---
+io:
+  BaseDir: ../KITTI-07/
+  VOFile: slam_res/Twc.txt
+  LOFile: slam_res/floam_isam_07.txt
+  VOIdFile: FrameId.yml
+  ResFile: calib_res/iba_global_pl_07.txt
+  init_sim3: calib_res/he_rb_calib_07.txt
+  zero_translation: true
+  gt_sim3: calib_res/gt_calib_07.txt
+  PointCloudDir: ../data/07/velodyne
+  PointCloudskip: 1
+  PointCloudOnlyPositiveX: true 
+orb:
+  Vocabulary: ../data/Vocabulary/ORBvoc.txt
+  Config: ../config/orb_ori/KITTI04-12.yaml
+  KeyFrameDir: ../KITTI-07/KeyFrames/
+  MapFile: ../KITTI-07/Map.yml
+
+runtime:
+  max_pixel_dist: 1.5
+  num_min_corr2d_3d: 30
+  num_best_covis: 3 # set negative to use min_covis_weight
+  min_covis_weight: 100
+  min_rot_diff: 0.03
+  kdtree2d_max_leaf_size: 10
+  kdtree3d_max_leaf_size: 30
+  corr_3d_2d_threshold: 40
+  corr_3d_3d_threshold: 10
+  norm_max_pts: 30
+  norm_min_pts: 5
+  norm_radius: 0.6
+  norm_reg_threshold: 0.01
+  min_diff_dist: 0.2
+  he_threshold: 0.142
+  err_weight: [1.0, 1.0]
+  init_frame: [0.5,0.5,0.5,0.5,0.5,0.5,0.5]
+  min_mesh: 1.0E-6
+  lb: [-0.1,-0.1,-0.1,-0.35,-0.3,-0.3,-1.0]
+  ub: [0.1,0.1,0.1,0.35,0.3,0.3,1.0]
+  max_bbeval: 5000
+  valid_rate: 0.95
+  seed: 0
+  use_vns: true
+  direction_type: N+1 QUAD
+  use_cache: false
+  cacheFile: ../KITTI-07/cache/cache_07_d1.5_fuse_wide.txt
+  verborse: true
+  use_plane: true  # set to false for the ablation study
\ No newline at end of file