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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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failed static init #453

Open Jiangjiacheng-scau opened 2 weeks ago

Jiangjiacheng-scau commented 2 weeks ago

[init]: failed static init: no accel jerk detected, platform moving too much

how to solve it?

precyon commented 1 week ago

On what datastet? Or are you using your own?

If you are using your own, what does the start of the dataset look like? The error seems to suggest that the setup is already moving at the start?

You could:

  1. Post the full log for the community to look at and better understand what's going on. You could set the verbosity to DEBUG.
  2. Look at the disparities and IMU values/jerk at the start tweak the init_* options in estimator_config.yaml