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ROVIOLI in MAPLAB #144

Open zz1120122573 opened 6 years ago

zz1120122573 commented 6 years ago

I want to run ROVIOLI in stereo mode, but maplab owner said "ROVIO has some issues in stereo mode, we don't recommend using it if you don't need it". Are the problems important? Can I solve them?

bloesch commented 6 years ago

Not too sure what the issues are. The stereo mode is relatively sensitive to bad calibrations and often there is no significant gain in performance when compared to the monocular setup. I am not 100% sure whether the calibration sensitivity is the only cause for problems though...

zz1120122573 commented 6 years ago

Thanks for your reply. Do other stereo VIO sensitive to bad calibrations? e.g. OKVIS. OKVIS will lost in the middle when running Euroc dataset V2_03.

bloesch commented 6 years ago

Many VIO system I know are sensitive to bad calibration. It depends a bit on the method and on whether on-line calibration is supported. But often, even with online calibration, the system are not performing well if the calibration is bad.