Weird Initialization of IMU + Stereo Camera

HKUST-Aerial-Robotics / VINS-Fusion

An optimization-based multi-sensor state estimator

GNU General Public License v3.0

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Weird Initialization of IMU + Stereo Camera #198

Open djramakrishna opened 1 year ago

djramakrishna commented 1 year ago

Hi all ! I'm using VINS-Fusion for my custom bags with stereo camera + IMU. The weird thing i see is, the animation of the bot in the Rviz, moves pretty fast in the beginning, without even my camera frame moving. But once, my robot starts, the path obtained is as expected. It's just that there's a pretty long initial path that is generated without the robot even moving. I'm not sure what's happening and any thoughts about this appreciated. Thank you !

rreddy78 commented 1 year ago

Yes. This is some behaviour even I have observed. I am testing VINS-Fusion with a CARLA simulator output.