Compare cam and IMU tracking results about dm-vio HOT 2 CLOSED

I quickly tried the dataset you linked in the earlier version of your post. It seems like there's a problem with your IMU data or calibration, as the visual-only version seems to work fine and the CoarseIMUInitError is way larger than it should be.

My best guess would be that time calibration is somehow off or maybe that the T_cam_imu is wrong. How have you recorded your dataset and which camera is used?

Unfortunately I cannot provide much support for custom datasets unless there is a sign that there is a bug with DM-VIO.

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Hi, thanks for the reply.
Previous Data is recorded by L515 realsense. I happened to set the imu random walk parameters wrongly，which causes the big error in CoarseIMUInitError. GTSAM uses noise model for imu factor.

double NoiseModelFactor::error(const Values& c) const {
  if (active(c)) {
    const Vector b = unwhitenedError(c);
    check(noiseModel_, b.size());
    if (noiseModel_)
      return 0.5 * noiseModel_->distance(b); // wrong imu parameter will cause this distance way higher than usual
    else
      return 0.5 * b.squaredNorm();
  } else {
    return 0.0;
  }
}

I will check T_cam_imu and enable time calibration later to see if those are the reasons for bad performance when imu is enabled. Cheers.

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