Comments (3)
- 单目+IMU需要良好的初始化,轮速可以增强初始化的鲁棒性和精度
- 时间戳是否需要对齐主要取决与是否已经时间同步,不确定的话可以分别测试下开启和关闭时延标定的效果
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谢谢!
昨天用我自己的小车(有轮速信息)和D435i(单目+IMU)测试了,发现偏差比较大
1.视频当中,你小车的 odom 话题频率是多少?
2.还没有细看代码,在轮子打滑的情况下,代码有做处理吗?
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- odom话题频率可以用ROS打印出来看下,没记错应该是50HZ
- 在测试的场景,打滑不会特别大,所以没有特别处理。你可以看下这篇论文Robust Odometry using Sensor Consensus Analysis,有部分传感器一致性检验的内容
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Related Issues (20)
- 轮速里程计平面约束 HOT 8
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- 请问在初始化的时候没有对轮速计的内外参进行初始化吗?而是直接给的初值吗? HOT 3
- 关于Z方向上的漂移有点疑问想请教一下 HOT 5
- 关于添加ZUPT约束的一点疑问 HOT 1
- sophus vision HOT 1
- Worked on Kaist urban dataset?
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