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MIT-SPARK / Kimera-VIO-ROS

ROS wrapper for Kimera-VIO
BSD 2-Clause "Simplified" License
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Monocular on EuRoc. #209

Closed caiodataopshouse closed 1 month ago

caiodataopshouse commented 1 month ago

Is Kimera monocular supposed to give good results for the EuRoc dataset ? I ran "roslaunch chimera_vio_ros chimera_vio_ros_euroc_mono.launch" and the odometer just gave the drone going at one direction with big speed. It also took a while to initialise after the images were already being feed. I ran the stereo version with Kimera semantics and the results were very good. Is this result expected or it there any bug ?

caiodataopshouse commented 1 month ago

I found the Issue for the Euroc Mono.. Maybe was an VIO initialisation problem so I set autoInitialise on BackEnd parm yaml to 1. Otherwise there is a waiting time fot the gt odom and maybe this was the problem