Closed mhuzai closed 2 years ago
Right now we require static initialization. You can try to use the groundtruth with the biases being zero, but it will depend on the quality of the velocity in the groundtruth and if that groundtruth is gravity aligned. If there is a vicon system you can try running them with our vicon2gt utility to see if you can recover the full inertial states.
Gotcha. Thank you for the vicon2gt idea.
One more question about initialization. Are there plans to add dynamic initialization in the future? Is there some fundamental challenge associated with doing so?
Issue https://github.com/rpng/open_vins/issues/62 also has some discussion about RGBD inputs. In terms of dynamic initialization this is something we are working on and is tracked in issue https://github.com/rpng/open_vins/issues/204
Great, thank you!
Hello,
I have two questions regarding running open_vins with ETH3D.
Thank you!