Comments (5)
TouchDeeper
commented on August 20, 2024
引入轮速发现Z方向漂移的现象我没怎么发现，或许是你跑的数据集里轮速打滑的情况比较多。
另外轮速的内外参可以考虑需要在线标定。
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zxh2015
commented on August 20, 2024
引入轮速发现Z方向漂移的现象我没怎么发现，或许是你跑的数据集里轮速打滑的情况比较多。 另外轮速的内外参可以考虑需要在线标定。
感谢回复,外参在线标定确实表现会比较好的,本身外参的影响是比较大的,但是这个也不是很能解释Z漂移,可能确实我的数据震荡和打滑情况比较多,还需要考虑一下
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RobotYi1
commented on August 20, 2024
请问，在跑kaist数据集时候，有遇到Z方向飘移很大的情况吗，怎么解决的呢
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TouchDeeper
commented on August 20, 2024
@cheyifanp 可以用一下零速修正
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RobotYi1
commented on August 20, 2024
@TouchDeeper 请问零速校正要怎么加呢，我的做法是利用轮速计进行零速检测，检测到时把零速约束加入到优化项中了，同时把视觉约束的方差设置为零，结果是当处于静止状态时，轨迹会漂移然后崩掉。像问下我的思路是对的吗
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Related Issues (20)
- 单目+IMU+轮式里程计 HOT 3
- 轮速里程计平面约束 HOT 8
- Question about download dataset_viwo datasets from google cloud storage HOT 1
- Relate Paper HOT 5
- Question about calibration of extrinsic between wheel and IMU HOT 1
- Derivation of wheel speedometer based on ESKF HOT 1
- 为什么加入平面优化之后，回到原点的轨迹还是存在Z方向的漂移？ HOT 13
- 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
- 关于添加ZUPT约束的一点疑问 HOT 1
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- ros-noetic and ros2 version HOT 1
- gyroscope bias initial calibration -nan -nan -nan【陀螺仪初始化问题】 HOT 1
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- 请问数据集有其他下载方式吗？能不能提供一下~谢谢 HOT 1
- 轮速计参数 HOT 9
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