Comments (6)
Hi @MatthewFehl365,
I had a similar issue when trying to run the LARVIO framework on an NVIDIA Jetson XS as well as my pc, and it turned out the error was that after the whole frontend process (i.e. Ransac, descriptors, etc) there were not enough features for the backend to process.
I am not sure how many feature you are using, but I would suggest using a higher number of detectable features (i.e. 200).
from larvio.
We are currently using parameters based on the euroc set parameters provided in the repo, so the max features are set to 300. Based on the image viewer it seems like its detecting a large amount of features but they tend to flash as they are not being tracked through many frames.
How did you go about assigning the correct amount of IMU measurements per frame? We just set it to gather a fixed amount of 10 imu measurements per frame gathered.
from larvio.
I've narrowed it down to something with the feature tracker. I went through and uncommented the feature tracking comments and it is correctly identifying features in the first received frame, then it looks like when it tries to propagate them to the next frame it loses them and resets the estimate.
Not sure how to continue, any insight?
from larvio.
Hi,
I have not touched the IMU buffer part. I left it as it is was in the original code.
What do you mean by it loses the feature and resets the estimate? Do you have maybe a log?
Can you also check what is the frequency of the odometry topic published? I know for the EUROC the images are received at 30Hz and IMU at 200Hz so maybe check if the topic is published at around 30Hz.
So maybe if frames are skipped due to resource constraints LARVIO is not able to detect recurrent features hence your error.
from larvio.
So turns out i kept redifing the imgPtr so it wasnt properly tracking the features. Seems to be tracking features correctly and the imu buffer is flling correctly. I am using a raspberryPi Cam and the BNO055 imu. I manually fill the buffer with 10 imu measurements and then grab an image to be used by the algorithm. It appears now that something is not correct with the pose estimate.
I will keep updated!
from larvio.
UPDATE:
I've been able to get everything running correctly but the results I'm seeing are far from expected. My camera feed is extremely lagged which leads me to believe that is the cause for improper state estimateion. I'm using a CSI camera with the jetson nano, anyone have an ideas how to properly capture video (or stills) and timestamp them correctly?
from larvio.
Related Issues (20)
- ZUPT algorithm HOT 1
- 如何用larvio跑kaist urban dataset? HOT 4
- 连续状态转移矩阵的离散化
- Running LARVIO on Jetson Nano XS HOT 1
- Hi, when I make the code, there is errors,
- TUM corridor1 的参数能共享一份嘛,邱博
- License?
- 零速修正对精度的提升大吗,零速修正只能对当前时刻和前一时刻进行约束,无法对累计误差进行修正。 HOT 1
- "Are the Numerical Effects of Zero-Velocity Update (ZUPT) Constraints on Relative Rotation the Same When Using Quaternions and Rotation Matrices?
- 請問如何將軌跡以tum格式輸出到文件 HOT 2
- ZUPT HOT 3
- 用自己制作的数据,发现不能正常运行
- Using LARVIO with realsense d435i HOT 1
- Learning materials HOT 1
- Question HOT 3
- Question about measurement update HOT 1
- Error while trying to run the ROS example HOT 4
- ubuntu16.04 run euroc example error HOT 2
- Covariance for dynamic initialization HOT 2
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from larvio.