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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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Consistent Loss in Tracking after X Frames in Imu Mono mode #866

Open geoeo opened 8 months ago

geoeo commented 8 months ago

Hello,

I have a problem with the tracking from aerial images. It seems to be that after x frames the IMU initialization kicks in and I have a short loss in tracking. (but Im not sure for it is this!) The map may recover or may not.

Have you also observed this? What can I do to mitigate this? I tried to increase chi2 noise values and reduce some inlier count. This has helped, but the loss still occurs.

In the images you can see a white space where the tracking was lost, but the map was able to recover.

orb_short_lost_1 orb_short_lost_2

aboluo commented 7 months ago

you can check the timestamp consistency between the picture and the imu data

boardd commented 3 weeks ago

Did that work for you? I am having the same issue

geoeo commented 3 weeks ago

I found a lot of timestamp issue in the original repo. you can try this one, it works for me now https://github.com/geoeo/ORB_SLAM3_V1.0

boardd commented 3 weeks ago

Thanks! what were the timestamp issues you found? I can't use that repository because I need to use stereo-imu mode.

geoeo commented 2 weeks ago

I think there were hardcoded offsets in the code. Check Tracking.cc for starters. But I also upgraded to a 400Hz Imu.