Open mukundkk opened 7 months ago
Hi, I am not sure if a 50hz IMU will be good enough for use. I think the question here is how you got the noise parameters for the IMU sensor you have. It looks to have a +-5m variance which is pretty bad for an IMU and might not be usable.
Looking at the last figure of your calibration, you have >2px reprojection error, so this calibration won't work likely. But this probably also comes from a poor IMU source. I recommend 200hz and above (most IMUs you should be able to configure).
We're trying to run OpenVINS on a drone with an Intel Realsense D435i & a Kakute H7 v2 flight controller (which has a BMI270 IMU). Consistently, we get decent tracking for a short time (5-12 seconds), but then the pose estimate just drifts rapidly away while the drone is still moving. I've attached our estimator config & calibration results (from using Kalibr). Do you have any suggestions on how to improve this behavior? Thanks!
dynamic-report-imucam.pdf
estimator_config: