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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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Odom Drift on Custom Dataset #475

Open VivekMangeUD opened 1 month ago

VivekMangeUD commented 1 month ago

Hello I am trying to run Openvins on my system and after initialization the system starts to drift.

After Initializing, With ZUPT as true, While the system is stationary, everything works fine, But when the system is moving there is a huge drift on ODOM path.

I have attached the config file, Kalibr files, and screen recording of the test on the google drive - https://drive.google.com/drive/folders/1hH7HIAgSKzxHoH2Tnc82iHsJx88-7CEq?usp=sharing

I see that the drift after initialization is a common issue faced by a lot of user, Can anyone help out with what should i change in the system.

goldbattle commented 5 days ago

Looks like bad IMU sensor timestmaps and very large reprojection errors. image image

I recommend fixing your sensors before trying to run any VINS.

goldbattle commented 5 days ago

What sensors are you using to record this data? Some custom sensors or?