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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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Wrong direction of gravity in the world coordinate system #336

Open treememory opened 3 years ago

treememory commented 3 years ago

thank you for your work~

treememory commented 3 years ago

There seems to be a problem with the gravity direction of the output trajectory. The trajectory of Euroc's V203 data is compared with VINS. The result is as follows. The gravity direction of VINS (color trajectory) is correct, but the trajectory line of ORBSLAM3 (white trajectory) is obviously wrong. Why, isn’t there a gravity direction estimation and optimization?

xinruozhishui201314 commented 3 years ago

你好，请问这个问题查的怎么样？