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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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Theory about zero velocity update #238

Closed CanCanZeng closed 2 years ago

CanCanZeng commented 2 years ago

Hi, where can I find the theory about the zero velocity update in your code? The publication does not mention it. And why do you use && instead of || for zero velocity detection? https://github.com/rpng/open_vins/blob/d84a51c2b914b5739ed6eaff30eb74e7d6a687a3/ov_msckf/src/update/UpdaterZeroVelocity.cpp#L192 It sounds more reasonable to me that it is considered static only if both conditions are met at the same time. Please correct me if I'm wrong.

goldbattle commented 2 years ago

There is a small discussion on the documentation website: https://docs.openvins.com/update-zerovelocity.html

You can enforce that both are there, but the IMU detection is highly dependent on the quality of the IMU. For example on the KAIST dataset, just using the IMU detection will work well, but on other datasets it won't without the user spending quite a bit of time tuning.

CanCanZeng commented 2 years ago

Thank you for your help, I got it.