Odometry drifts off for stationary pose

KumarRobotics / msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

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Odometry drifts off for stationary pose #80

Closed bednarhonza closed 3 years ago

bednarhonza commented 5 years ago

Dear community, I'm facing a problem while running MSCKF in the Gazebo simulation. We have a Realsense D435 camera in the simulator running. I made a record of the running simulator and attached it to the post. The MSCKF is initially started from the static position on the ground, but the result is as same as started in the air.

I also attached the calibration file we used. out-2.zip realsense_simulation.txt

Do I miss something in the configuration file?

Thank you for your help!

Best, Jan Bednar

poaongithub commented 5 years ago

same as mine, have you solved it? @Jwenda

bednarhonza commented 5 years ago

No, I'm trying different approaches, but the result is still the same. It drifts off a lot.

jian-li commented 5 years ago

The msckf algorithm drift when it is hovering, for the reason you can read this paper:https://www-users.cs.umn.edu/~stergios/papers/IROS_2013_Hover_Dimitris_Kejian.pdf. To avoid this, a special strategy should be token or just combine ekf-slam and msckf.

wntun commented 4 years ago

When I reduce the threshold values for rotation and translation, increase tracking rate threshold, results got improved. Hope it's helpful.