pjrambo
commented
5 years ago I test vins-fusion with my own device (global shutter camera + imu + gps(RTK) put those together but not hardware synchronized) and set estimate_td to 1, online estimate time offset between camera and imu. it seems that the global optimization thread doesn`t work properly， at most time the global optimized path overlay exactly with the vio odometry path, however the gps(RTK) path was not overlay with those two path. And sometimes the global optimized path jumps for a short distance and ran off very fast , but the gps and vio path still works fine. I could sent my rosbag to you if you are interested.
According to your description, I guess the unsynchronized (imu+camera) and GPS may cause that problem. If your gps timestamp has a big time delay, at the beginning the estimator can not get the corresponding gps data, so your vio path may be same with the global path. Once the first time the estimator get the gps data, because of the unsynchronized data, it may optimize vio data with wrong gps data, which may lead to the issue as you said. If this is not the reason for your case, you may send me your bag and config file. You can send it to jpanai@connect.ust.hk or just attach the link below.
zjlooojoe
HpyZhai
yichengethanli
I test vins-fusion with my own device (global shutter camera + imu + gps(RTK) put those together but not hardware synchronized) and set estimate_td to 1, online estimate time offset between camera and imu. it seems that the global optimization thread doesn`t work properly， at most time the global optimized path overlay exactly with the vio odometry path, however the gps(RTK) path was not overlay with those two path. And sometimes the global optimized path jumps for a short distance and ran off very fast , but the gps and vio path still works fine. I could sent my rosbag to you if you are interested.