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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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The calibrated time offset are different between Vins mono and Kalibr #394

Closed mppcasc closed 2 years ago

mppcasc commented 2 years ago

Hi, I use the mobile APP to record video and IMU data, and then use VINS-Mono and Kalibr to calibrate the time offset respectively, the results are quite different.I use the calibrated time offset to synchronize the video frame and IMU data, and then use the IMU data to stabilize the video, Kalibr calibration result was almost correct, so the result of VINS Mono is wrong? I checked the configuration file of VINS Mono, all Settings are correct. What are the possible reasons for the difference between VINS and Kalibr?

mppcasc commented 2 years ago

The video frame timestamp in VINS-Mono corresponds to the exposure time of the middle row, while the Kalibr video frame timestamp should correspond to the first row. Regardless of this difference, the calibration time offset is still very different.

mppcasc commented 2 years ago

Ok, in kalibr, I set IMU noise parameters incorrectly, resulting in the difference between the two calibration results.

In fact, the calibrated time offset is correct for both. For my camera (shutter shutter), the Vins Mono was more accurate.

Now, I close the issues.