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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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instereo+imu mode， maps can not merge!!!!! #319

Open honggesmile opened 3 years ago

honggesmile commented 3 years ago

First of all, thank you very much for your work, the effect is very good

In STEREO mode, multiple maps can merge when loops are detected。 But in stereo+imu mode，multiple maps can not merge when loops are detected。

Here are my test records： I run ./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.bin ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH02.txt dataset-MH01_to_MH05_stereoi log output:

` TIME STATS in ms (mean$\pm$std)
OpenCV version: 3.4.0
---------------------------
Tracking

Stereo Rectification: 1.6036$\pm$0.64273
ORB Extraction: 16.255$\pm$4.1862
Stereo Matching: 2.5326$\pm$0.70464
IMU Preintegration: 0.88974$\pm$0.26362
Pose Prediction: 0.11132$\pm$0.25503
LM Track: 12.256$\pm$4.457
New KF decision: 0.21523$\pm$0.41481
Total Tracking: 38.253$\pm$11.292
---------------------------

Local Map Tracking complexity (mean$\pm$std)
Local KFs: 82.523$\pm$38.975
Local MPs: 6316.5$\pm$3176.2

Local Mapping

KF Insertion: 19.871$\pm$9.0329
MP Culling: 0.13616$\pm$0.18331
MP Creation: 65.096$\pm$30.391
LBA: 239.57$\pm$107.41
KF Culling: 28.331$\pm$18.201
Total Local Mapping: 351.76$\pm$151.24
---------------------------

LBA complexity (mean$\pm$std)
LBA Edges: 16670$\pm$7457.4
LBA KF optimized: 23.839$\pm$3.6755
LBA KF fixed: 71.801$\pm$50.295
LBA MP: 2216.6$\pm$863.74

LBA executions: 889
LBA aborts: 22
---------------------------

Map complexity
KFs in map: 0
MPs in map: 0

Place Recognition (mean$\pm$std)

Database Query: 0.95729$\pm$0.63223
SE3 estimation: 4.773$\pm$4.2503
Total Place Recognition: 5.6671$\pm$4.7004

Map Merging (mean$\pm$std)

Total Map Merging: 261.8$\pm$0

Saving trajectory to CameraTrajectory.txt ...

End of saving trajectory to CameraTrajectory.txt ...

Saving keyframe trajectory to KeyFrameTrajectory.txt ...`

The number of map points displayed is 0 The program enters the mergelocal2() function, but the map is not fused together。

can you give me some advices? thanks advance.

FENGZHANG123 commented 3 years ago

I met the same problem, any progress so far?