Unable to recover after "Visual tracking is lost"

NVIDIA-ISAAC-ROS / isaac_ros_visual_slam

Visual SLAM/odometry package based on NVIDIA-accelerated cuVSLAM

https://developer.nvidia.com/isaac-ros-gems

Apache License 2.0

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Unable to recover after "Visual tracking is lost" #136

Closed sandeepdutta closed 5 months ago

sandeepdutta commented 6 months ago

Hello, I am trying to use this package with ZED mini camera on Orin AGX. The system works fine till we hit a situation when "Visual tracking is lost" this can happen due to many reasons, (robot wondering to close to a featureless wall, enters low lighting area), Once this happens though the visual slam is unable to recover. I am using IMU fusion from the ZED camera. I have tracked the IMU Odometry it seems to be generating the correct data. Any work arounds or suggestions.

Sandeep

swapnesh-wani-nvidia commented 6 months ago

Here is my interpretation based on what is described. Once the tracker is lost. It will be in a mode where the odometry estimates won't match the ground truth. At that point, you can call the reset odometry service to reinitialize the tracker and vslam odometry session.