Scale in Stereo Inertial SLAM

UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

GNU General Public License v3.0

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Scale in Stereo Inertial SLAM #193

Open Ishira1601 opened 3 years ago

Ishira1601 commented 3 years ago

I'm using the Tracking Camera Intel Realsense T265. I was able to run all the algorithms. I'm able to get okay results for Monocular Inertial SLAM although there is an error of about 1m at some points in the z-axis.

My biggest problem however is with Stereo-Inertial SLAM. The Maps is about twice the ground truth. I'm wondering if this has something to do with the configurations.

HeadReaper-hc commented 3 years ago

@Ishira1601 hi, have you found the problem?

Pallav1299 commented 3 years ago

I am witnessing similar results. The scale is large as compared to ground truth in stereo-inertial mode.