search

lukasvst / dm-vio

Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry
GNU General Public License v3.0
1.07k stars 187 forks source link

Initial velocity for initialization #47

Open GeJintian opened 1 year ago

GeJintian commented 1 year ago

Hello, thank you for your work! However, when I ran dm-vio on nuscenes dataset, I met with initialization failure. Therefore, I wonder if you require the initial velocity to be 0 for a good initialization?

lukasvst commented 1 year ago

No, there is no assumption on 0 initial velocity in the work.

Is the visual-only initializer failing or does it then not get into the VIO state (indicating the the visual-inertial initializer does not succeed)?

For driving datasets it can be useful to add a prior on the initial movement direction to help the visual initializer (https://github.com/lukasvst/dm-vio/blob/master/configs/4seasons.yaml#L6-L7). However, the current implementation of these settings assumes that the camera is mounted looking forward.