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rpng / MINS

An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.
GNU General Public License v3.0
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Initialization need platform to move and sometimes failed to init (drift) #21

Closed se7oluti0n closed 6 months ago

se7oluti0n commented 6 months ago

Hi MINS maintainers,

First of all, thank you for great work and share it to the public community. I would like to apply MINS to the mobile robot application, I'm using stereo camera + IMU (Intel d435i) , but there are some issues of MINS that I want to ask:

  1. Is there any way to make the system initialization while stay in one place, I assume that the VIO need platform to move to recover scale (in monocular camera), but in case of using stereo cameras, could I make the initiazation without moving?
  2. Sometimes the initialization failed and pose got drifted. How could I prevent drifting?
  3. I aware that CPU usage of MINS is much higher than that of Open-Vins ( in my PC, 150% CPU compare to 50% of OpenVINS). What cause the CPU usage higher?
WoosikLee2510 commented 6 months ago

Hi, @se7oluti0n.

  1. Yes, you can initialize the VIO without moving which is not included in MINS - as it is aiming for more sensor incorporation to handle such constrained case. You can refer to OpenVINS how it can be done.

  2. The quality of initialization using only IMU may highly depends on the threshold you set for initialization. Specifically, setting proper imu_threshold is crucial so recommended to adjust the value.

  3. I didn't do 1:1 comparison - it may due to larger default parameters for update, visualization, or size of the state. But you can surely play with the parameters to reduce CPU usage.

se7oluti0n commented 6 months ago

@WoosikLee2510 Thanks for answers. I will close the issues. Will feedback here if there is any update