Asynchronous fusion of multi-sensor data

[WuZihao12]

Hi and thanks for your work! I want to study an asynchronous multi-camera system, is this code suitable for the purpose, is there any relevant case?

[Chris-Bee]

@WuZihao12 Thank you!

Yes, the MaRS framework is suitable for this case. All measurements can be processed asynchronously, MaRS will handle the intermediate IMU propagation steps and possible out of order measurement updates for you. In addition, with the modularity approach that MaRS is using, the handling of asynchronous measurment inputs is handled without the usual computational overhead. I hope this helps.

[WuZihao12]

Thank you very much for your reply

[WuZihao12]

Hi, can this module be used for optimization based vio? For example, vins-mono Or filter-based vio, such as open_vins.

[WuZihao12]

Hello, is this visio a camera model?

[Chris-Bee]

@WuZihao12 MaRS would allow you to perform filter-based VIO with loosely-coupled vision. The vision sensor module that you found allows to incorporate loosely coupled vision with a vision world reference frame and scale of the pose as self-calibration states.

[WuZihao12]

Thank you for your reply.

[Chris-Bee]

You are welcome.