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ethz-asl / rovio

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Regarding covariance and noise tuning #195

Closed yehonathanlitman closed 5 years ago

yehonathanlitman commented 6 years ago

Hey there,

I managed to get ROVIO running on my setup with a cheap IMU (px4). At first I was getting severe drifting, but after tuning the covariance and noise parameters in the info file, I've been able to get semi-usable results. Two problems remain and I was hoping to get your feedback though!

1) The Z-height is inverted. Not sure how to approach that. 2) The system experiences severe position miscalculation on either the X or Y axes whenever yaw is introduced, but otherwise returns to normal when the camera is turned back to the initial yaw angle. Could it be a lack of synchronization?

The system right now is very stable when it keeps view of one scene. Only trouble is with yaw really. Below is my info file.

firefly.txt

bloesch commented 6 years ago

I do feel both problems are related to something wrong with the camera-IMU extrinsics calibration. How did you do that?

yehonathanlitman commented 6 years ago

I got it using a calibration from kalibr. I thought it was a pretty good calibration and that the extrinsics were pretty much on point. here is a picture of my setup

image

Do you think perhaps I messed something up? Rotation matrices always confuse me lol

Razbotics commented 5 years ago

Hey i have been following your project quite a while. Also i am working on similar autonomous drone project. Would u like to connect with me on linkdin?...i would like to discuss my experience with you

yehonathanlitman commented 5 years ago

Hey, sure thing I’m always happy to help, just comment your question on my latest video. I would like other people to make use of our conversation for their own projects so discussing publicly is the way to go.