Open EugenKarasev opened 1 year ago
IMU data with 49 Hz is a low frequency itself. ORB-SLAM3 requires at least 100 Hz for IMU data stream as mentioned here. What is more important, when you have an image stream with 30 Hz, having only 49 Hz for IMU, it causes preintegration issues, because it needs more IMU readings between two consecutive frames to create a preintegrated IMU measurement. I would suggest to perform tests with reduced image stream frequency to 10 Hz and interpolated IMU data to 100 Hz in your rosbag file.
I had the same issue and it was the frequency of the two signals. as @WFram suggested. I published the IMU at 100 and the images at 30/10 and it worked fine.
Yep upsampling seemed to stop this error for me too. Unfortunately it seems that the simple linear interpolation I did to upsample might also be causing initialisation errors for the IMU. I was not able to recalibrate with Kalibr using my upsampled IMU data. To be fair I was trying to use the Tello drone and the SDK for it only exposes the IMU readings at 10Hz. I was trying to upsample to 200Hz so perhaps this was a bit ambitious.
Hello! Help me with my problem, please I seat with this error some days, but all solutions in reading issues didn't help with this.
I test
mono-inertial ORB_SLAM3
on my rosbag with bgr images from30 fps
rolling shutter monocamera and IMU measurements with49 Hz
frequency. But every test after a few seconds fell with this error, like:I calibrate my camera and imu with
kalibr
and got these results:If i run
monocular ORB_SLAM3
, I get much better results, but it's not enough for my task.