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mzahana / jetson_svo_docker

A Docker image for the SVO Pro (visual inertial odomotery/SLAM) package, for Nvidia Jetson boards.
BSD 3-Clause "New" or "Revised" License
7 stars 1 forks source link

Jetson nano #1

Closed poudyalbot closed 1 year ago

poudyalbot commented 2 years ago

Res sir, Were you able to run the svo pro on Jetson Nano especially the Ceres backend based vio. Thank you

mzahana commented 2 years ago

@poudyalbot I have not tested that yet.

poudyalbot commented 2 years ago

Will you be testing it on Jetson nano

mzahana commented 2 years ago

@poudyalbot I am currently testing only on Xavier NX. Feel free to test on Nano if you can.

poudyalbot commented 2 years ago

I don't have it with me yet. Since you have lot of experience in quadrotor vehicles do you think we can have robust navigation using rpg svo pro. Thank you

mzahana commented 2 years ago

@poudyalbot I am sorry, but there is no simple answer to your question. It is a function of the system and the environment. You will have to test and judge.

poudyalbot commented 2 years ago

I am more interested in like low computational cost in vio. Thank you

mzahana commented 2 years ago

I tried to run SVO Pro on Xavier NX. It works, but the estimation can quickly get inaccurate, and eventually diverge. I have tried the same setup (D435i + Xavier NX) with GPU-accelerated VINS-Fusion (see my docker image here ), and it works way better without diverging.

poudyalbot commented 2 years ago

Maybe the only Ceres based backend don't diverge that much as compared to gtsam.

On Sunday, November 7, 2021, Mohamed Abdelkader Zahana < @.***> wrote:

I tried to run SVO Pro on Xavier NX. It works, but the estimation can quickly get inaccurate, and eventually diverge. I have tried the same setup (D435i + Xavier NX) with GPU-accelerated VINS-Fusion (see my docker image here https://github.com/mzahana/jetson_vins_fusion_docker ), and it works way better without diverging.

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