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HKUST-Aerial-Robotics / VINS-Mobile

Monocular Visual-Inertial State Estimator on Mobile Phones
GNU General Public License v3.0
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box jumping and pose is unstable #79

Open ismymajia opened 7 years ago

ismymajia commented 7 years ago

The box will jump a little when the phone is moved slightly.

sometime the pose of box is not very stable.

i find that it is caused by r_drift in VINS.cpp. Is there a better computer method?

PeiliangLi commented 7 years ago

Thanks for the report. It's because detecting loop and relocalizing frequently. To avoid this, you can increase the MIN_LOOP_NUM to reduce the loop recall rate. You can also increase the sleep time of the loop_thread when loop_succ is true.

ismymajia commented 7 years ago

Thanks for your reply. Fast relocation is required in mobile phone scene. So may need a better way for this problem!

luoru commented 7 years ago

I also found the box would not be stable when the loop and relocalizing occurred, work even worse than the situation without loop. Is there possible some improvements in BA procedure when loop occurred

bhadresh74 commented 6 years ago

Facing the same issue @PeiliangLi Let me know if you have any recent update on this.

Thanks in advance.

ftahir999 commented 5 years ago

I am too getting the same issue, the boxes jump out of the scene and phone goes to detection phase quickly. @PeiliangLi @ismymajia did guys able to solve the issue?