Comments (4)
Considering my experience in VINS-Mono, synchronized device in hardware is needed. but this time, in VINS-Fusion, I face the same drifting problem as I have faced in previous time. do you have any suggestion in hardware (since I use zed stereo camera and MPU9250 ,not well synchronized)?
You may try to set the value "estimate_td" to 1 in the config file.
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Considering my experience in VINS-Mono, synchronized device in hardware is needed. but this time, in VINS-Fusion, I face the same drifting problem as I have faced in previous time. do you have any suggestion in hardware (since I use zed stereo camera and MPU9250 ,not well synchronized)?
You may try to set the value "estimate_td" to 1 in the config file.
I have set it to '1', but the online estimation didn't work well. : (
from vins-fusion.
Considering my experience in VINS-Mono, synchronized device in hardware is needed. but this time, in VINS-Fusion, I face the same drifting problem as I have faced in previous time. do you have any suggestion in hardware (since I use zed stereo camera and MPU9250 ,not well synchronized)?
You may try to set the value "estimate_td" to 1 in the config file.
I have set it to '1', but the online estimation didn't work well. : (
As it is said in the Readme, "VIO is not only a software algorithm, it heavily relies on hardware quality. For beginners, we recommend you to run VIO with professional equipment, which contains global shutter cameras and hardware synchronization."
If you want to get a better result with your own devices, hardware synchronization is needed.
Here are two options:
- If you are unfamiliar with hardware synchronization, you'd better use professional equipment, like some visual-inertial modules.
- Do hardware synchronization for your own devices.
from vins-fusion.
Considering my experience in VINS-Mono, synchronized device in hardware is needed. but this time, in VINS-Fusion, I face the same drifting problem as I have faced in previous time. do you have any suggestion in hardware (since I use zed stereo camera and MPU9250 ,not well synchronized)?
You may try to set the value "estimate_td" to 1 in the config file.
I have set it to '1', but the online estimation didn't work well. : (
As it is said in the Readme, "VIO is not only a software algorithm, it heavily relies on hardware quality. For beginners, we recommend you to run VIO with professional equipment, which contains global shutter cameras and hardware synchronization."
If you want to get a better result with your own devices, hardware synchronization is needed.Here are two options:
- If you are unfamiliar with hardware synchronization, you'd better use professional equipment, like some visual-inertial modules.
- Do hardware synchronization for your own devices.
Fine, I will do the hardware synchronization and try again!
Thanks.
from vins-fusion.
Related Issues (20)
- 边缘化因子的残差增长问题。 HOT 2
- Real-time test without rosbag dataset HOT 1
- GPS completely lost
- D435i wrong in rviz HOT 2
- Hello HOT 12
- How to align trajectory with google map
- There is no problem with Stereo, but Stereo + imu cannot estimate
- when i try the EuRoC Example,opencv error HOT 2
- Ubuntu 20.04 ceres error HOT 2
- issue about boost
- some problem about opencv HOT 2
- glog冲突 HOT 1
- How to implement mono version HOT 1
- In RVIZ the VIO trajectory is perpendicular to the gps route of global_fusion
- IMU Camera calibration
- Using oak-D pro W to do VIO with Vins-Fusion ROS pkg problem
- Could I use Gemini 335L camera to replace camera D435i ?
- 一些未定义的引用问题 HOT 1
- astra pro camera
- numerical unstable in preintegration HOT 1
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