Drift in the start and the end

KumarRobotics / msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

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Drift in the start and the end #147

Open Charlesguo11 opened 5 months ago

Charlesguo11 commented 5 months ago

I am trying to run msckf on WHUVID dataset with stereo+IMU, when running on the fast-speed dataset, there is drift in the beginning ,however then running on the low-speed dataset there is drift in the end. The upper is fast-speed using evo tool to evaluate: VINSplot_raw The other is low-speed: And I wounder why is like this? I'd appreciate it for your response.

Charlesguo11 commented 5 months ago

And every time the total path length predicted by MSCKF is longer than the ground truth one. Is this because there is no stationary time in the beginning?