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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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慢慢的一直朝着一个方向飘走了。。。。 #26

Open yst-one opened 5 months ago

yst-one commented 5 months ago

image

WoosikLee2510 commented 4 months ago

I think you have some initialization issues, right? What was the imu_thresh you used to detect "jerk" and how much were the IMU readings?