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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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Tracking with open-vins failing on Android #326

Closed Madhuparna04 closed 1 year ago

Madhuparna04 commented 1 year ago

I have been trying to use open-vins on an Android phone (Samsung Galaxy S22 Ultra). I used Kalibr to do the calibration (20 HZ Camera images from one back camera and 200 HZ IMU). But tracking is failing with the values I got from Kalibr.

Kalibr Camera report Kalibr Cam-imu report

I used allan-variance for finding the gyroscope and accelerometer noise and random walk.

I am using monocular currently and the returned pose seems to be increasing constantly. Number of features found is either 1 or 0. Also, the chi2 value I am observing is really high (30000 to 50000).

Any suggestion on how I can get the correct calibration results so that tracking works with open-vins? Thank you!

goldbattle commented 1 year ago

Your transformation to the IMU to CAM in kalibr is over a meter. I would get Kalibr to give a reasonable result before testing VIO.

goldbattle commented 1 year ago

image

Madhuparna04 commented 1 year ago

I was able to get the right calibration values. Also for reference, this has some default values for Android phones. Thank you!