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TouchDeeper avatar TouchDeeper commented on August 20, 2024
  1. 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
  2. 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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eejacky avatar eejacky commented on August 20, 2024

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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TouchDeeper avatar TouchDeeper commented on August 20, 2024
  1. odom话题频率可以用ROS打印出来看下，没记错应该是50HZ
  2. 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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