large velocity or bias, reset IMU-preintegration!

TixiaoShan / LVI-SAM

LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping

https://youtu.be/8CTl07D6Ibc

BSD 3-Clause "New" or "Revised" License

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large velocity or bias, reset IMU-preintegration! #29

Closed SnowCarter closed 3 years ago

SnowCarter commented 3 years ago

There will be a significant drop in the z-axis after around 2mins running. After then, LVI-SAM will become totally unstable. Is there anybody who comes across this issue? Screenshot from 2021-10-13 18-54-30

SnowCarter commented 3 years ago

Sorry guys, not the problem of LVI-SAM. It was caused by RVIZ because RVIZ took up too much computing resources.

zilong-ding commented 2 years ago

我是在楼道内测试，也遇到了这个问题，我是给予了IMU更多信任

Lyk77 commented 1 year ago

@zilong-ding How to do it？I also encountered this problem。

SnowCarter commented 1 year ago

For me, I just turn off some display options in RVIZ: like turning off all of pointcloud2 msg. However, it can also be because of the IMU noise as the @zilong-ding mentioned. You can redo the IMU calibration and maybe increase the noise value by times 10.

jeychandar commented 1 year ago

Sorry guys, not the problem of LVI-SAM. It was caused by RVIZ because RVIZ took up too much computing resources.

Can I know where this error came from. I tried alot but could not find. Having the same issue but I am working with li_slam_ros2 repo. Could you help me out. Thanks in advance.