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lukasvst / dm-vio

Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry
GNU General Public License v3.0
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If we can work well when visual info is not good at a short time #23

Closed yushijie94 closed 2 years ago

yushijie94 commented 2 years ago

I want to know, if I go into a black house, so I can not get any visual info. Can It still work by using IMU info at a short time and when I get out the black house, I can get the true trajectory showing I was in and out. Thanks!

lukasvst commented 2 years ago

It depends on how little visual information there is and on the time. When there is absolutely no visual information, only the IMU can be used for pose estimation and this will drift very quickly (few seconds). Note, that this is a pure odometry system, so it will usually not correct the trajectory after regaining vision.

But if you still have some visual information, or loose it only for a short period of time, the system should work.

yushijie94 commented 2 years ago

It depends on how little visual information there is and on the time. When there is absolutely no visual information, only the IMU can be used for pose estimation and this will drift very quickly (few seconds). Note, that this is a pure odometry system, so it will usually not correct the trajectory after regaining vision.

But if you still have some visual information, or loose it only for a short period of time, the system should work.

OK, If I test in real data, I will try to verify the conclusion. Thanks for you reply!

Leerw commented 2 years ago

@yushijie94 hi, are there any conclusions?