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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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integration sigma #39

Open AreteQin opened 1 year ago

AreteQin commented 1 year ago

Hello there,

thanks for your excellent work!

Within imu config yaml files, I saw a parameter called: integration sigma, is this parameter the angular difference between the coordinate axes of the accelerometer and the angular velocity meter?

I look forward to your response! Thanks for your time in advance! Arete

lukasvst commented 1 year ago

Thanks for your question!

The value of integration_sigma is squared, and then passed as the parameter integrationCovariance to the GTSAM IMU Preintegration factor. According to the GTSAM docs: "This is the uncertainty due to modeling errors in the integration from acceleration to velocity and position." (This related issue might also be interesting to you: https://github.com/borglab/gtsam/issues/1114)