Open geoeo opened 8 months ago
you can check the timestamp consistency between the picture and the imu data
Did that work for you? I am having the same issue
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
Thanks! what were the timestamp issues you found? I can't use that repository because I need to use stereo-imu mode.
I think there were hardcoded offsets in the code. Check Tracking.cc for starters. But I also upgraded to a 400Hz Imu.
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.