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HKUST-Aerial-Robotics / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator
GNU General Public License v3.0
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Position continuously flies away #325

Open kpwelsh opened 4 years ago

kpwelsh commented 4 years ago

I am working on leveraging visual inertial odometry on my android smart phone. I have ways of getting both the IMU and camera data at a high rate, and I believe I have correctly calibrated the camera intrinsics and extrinsics using openCV and Kalibr. However, whenever I try to run it, the position seems to fly away once it finished initializing.

Any advice to what might be wrong? It seems to be worse when I rotate the phone more, but my angular accelerations seem to be in order (xyz Euler).

maximpavliv commented 4 years ago

Same for me, but I'm trying to use it on a different device. Did you find a solution?

TheBricktop commented 4 years ago

@kpwelsh how did You manage to compile it on android?