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PetWorm / LARVIO

A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.
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Using LARVIO with realsense d435i #3

Closed Filea closed 4 years ago

Filea commented 4 years ago

Hello,

I would like to know if it is possible to run this algorithm with the realsense d435i. I tried it but the results are far from being good. May be is something wrong with the configuration that I'm using...

Do you have any configuration for this camera like you have for the mynteye?

Best, Filipe

PetWorm commented 4 years ago

Hi, sadly I have not yet tried LARVIO on D435i. But I think running with any hardware synchronized VI sensors would not be a problem.

The information you provided are too few, but still there are some tips may help you:

  1. Make sure you calibrate the intrinsic parameter of camera and extrinsic parameter between camera and IMU carefully, and change those parameters accordingly in the config file.
  2. Check if you turn on the IR, if you did, try turn it off, since it would affect the feature extraction.

Please provide more information and I will see if I can help.