Rovio doesnt work in virtual scene with ideal conditions

ethz-asl / rovio

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Rovio doesnt work in virtual scene with ideal conditions #226

Closed Mikhail2017 closed 4 years ago

Mikhail2017 commented 4 years ago

Hi all. I have created virtual scene and calculated high precision positions and imu measurements. Of course imu and camera frames are absolutely synchronized. When running rovio I've got a lot of REJECTED (iterations did no converge) messages and serious problems with update stage perfomance. EurocMav dataset works well. Please help!

Here are my configs for virtual scene. carla_cfgs.zip

Mikhail2017 commented 4 years ago

self checks output:

Testing Prediction ==== Model jacInput Test failed: 1 is larger than 1e-06 at row 15(vep) and col 15(vep) ==== 1 0 ==== Test successful (6.45948e-08) ==== Testing cameraOutputCF ==== Test successful (1.03452e-08) ==== Testing imuOutputCF ==== Test successful (1.03452e-08) ==== Testing attitudeToYprCF ==== Test successful (4.6604e-08) ==== Testing transformFeatureOutputCT ==== Test successful (1.0206e-08) ==== Testing LandmarkOutputImuCT ==== Test successful (7.9124e-09) ==== Testing FeatureOutputReadableCT ==== Test successful (1.21661e-08) ==== Testing pixelOutputCT (can sometimes exhibit large absolut errors due to the float precision) ==== Model jacInput Test failed: 2.78337 is larger than 1 at row 0(def_0) and col 0() ==== 7323.34 7320.56 Testing zero velocity update ==== Test successful (3.04311e-10) ==== ==== Test successful (1.39778e-10) ====

Mikhail2017 commented 4 years ago

I've tried to setup zero covariances for imu in config file, unfortunately it doesnt affect result

Mikhail2017 commented 4 years ago

Tried to setup imu axis like in Euroc MAV also without any success. Still divergence

Mikhail2017 commented 4 years ago

I've realized that the field VelocityUpdate was missingin my config. That was the only reason for poor work.

AmeliaEScott commented 4 years ago

@Mikhail2017 I am also trying to run Rovio with the Carla simulator. I was wondering if you could help me out? I have a few questions:

What kind of accuracy did you get?
I am currently having a problem where the covariance of Rovio's pose estimate increases very quickly (~10 to 100 per second), until Rovio completely diverges after 1 to 2 minutes. Did you ever experience this problem?
Did you have to set any specific settings, in either Carla or Rovio, to get it to work?
Do you have any data recorded from Carla that I could experiment with? Perhaps a ROS bag?

Thank you for any help you can provide.