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).
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).