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xiefei2929 / ORB_SLAM3-RGBD-Inertial

RGBD-inertial mode and its ROS interface was added to ORB_SLAM3. Two ROS interfaces Mono_inertial and Stereo_inertial were provided. Modified the loading vocabulary in a faster binary way.
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加了IMU的效果还变差了？ #11

Open calmelo opened 3 years ago

calmelo commented 3 years ago

对Normal.bag或者Fast.bag运行RGBD，还能得到一个比较完整的轨迹。但运行RGBD-inertial，尤其对Fast.bag，跟踪没过多久就会丢失，鲁棒性大大下降。请问这是为什么？

xiehousen commented 2 years ago

我用kinect的话，加了IMU效果是变好的，用的作者提供的bag

lyfadvance commented 1 year ago

从原理上来看，确实存在这个可能。本来就是联合优化，那imu的数据不准确，自然会拖累视觉的优化。或者imu和视觉没做好时间对齐？