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uzh-rpg / rpg_svo_example

Example node to use the SVO Installation.
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About the performance of the mono+imu svo2.0 in EuRoC datasets #9

Open tanmengwen opened 7 years ago

tanmengwen commented 7 years ago

Firstly, thank you for updating the launch files and parameters for EuRoC datasets. I ran the mono+imu mode following your instructions described in the doc/euroc.md. I got the below 3d trajectories with a big error drift in EuRoC V101 and V102 datasets.

v101 v101 3d trajectory

v102 v102 3d trajectory

So I want to know whether my EuRoC testes are good or not ? To a certain extent, maybe I guess the mono+imu mode cannot handle this kind of forward-looking situation very well if I want to get a small drift within a certain range.

mzahana commented 6 years ago

Hi.

As a side question: I would like to use SVO 2.0 with a monocular camera and IMU connected to ODROID XU4. Which launch files should I follow ? is it euroc_mono_imu.launch?

Thanks.