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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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Huge scale drift after initialize #353

Open antithing opened 7 years ago

antithing commented 7 years ago

I am initialising mono orbslam with known points, to give correct scale. This is working great, but once I start moving, I see a huge scale drift (Up to 10cm per meter travelled) . This is much more than is evident in the demo AR videos, is there anything I can look at to improve this? I know that scale drift is an issue with monocular slam, but surely I can improve it past what I currently see.

Any tips greatly appreciated! thanks.

AlejandroSilvestri commented 7 years ago

@antithing Drifting depends greatly on scene, movement and CAMERA CALIBRATION.