search

HITSZ-NRSL / Dynamic-VINS

[RA-L 2022] RGB-D Inertial Odometry for a Resource-restricted Robot in Dynamic Environments
310 stars 40 forks source link

Result of Different Playing Rate #8

Closed Kyle-Xu001 closed 1 year ago

Kyle-Xu001 commented 1 year ago

Hi, I tried to use the recorded rosbag to test this algorithm. The results are different when playing the rosbag with different playing rates. With a normal playing rate X 1.0, it has large drifts and often slows down or suddenly accelerates at some frames, especially when it detects more features. When playing rate X 0.2, the drift is quite small. What do you think of this problem?

jianhengLiu commented 1 year ago

It might result from the data loss. I used to transfer image data from nuc to atlas, while the bandwidth is limited, which makes some image frames loss and lead to bad results.

Kyle-Xu001 commented 1 year ago

Thank you for your help.