ashuiaaa
commented
3 years ago Hi, I have the same problem like you. When I use T265 for my device tracking, I can sometimes find that its position is shift. Could you tell me some possible reasons or advices to deal with this case. Thanks a lot.
Issue Description
I'm using T265 device to send the position data to my aerial robot using this script. I'm facing the camera at 45 degree angle to the horizon. The script provides transformations for converting the measurements from T265 reference frame to NED frame of the robot.
It flew well indoors the first few times at altitude of nearly 7-10m. While in the same environment now, the position is starting to drift sometimes and sometimes difference between the ground truth and actual measurement is large( about 1-2m difference ). I keep getting the position jumped messages frequently.
Some observations made are, as soon as the vehicle lands, the altitude goes to negative values like -1.5m, -2m. Even after takeoff the estimation is starting from the negative value and sometimes it starts drifting in altitude axis.
When i had first such issue , it was due to vibrations. i corrected it this time and it also flew well first few times. Any inference and suggestions on how to mitigate this ? PS: I disabled the relocalization parameter to avoid robot actually jumping around abruptly.