IMU integration about rpg_svo HOT 9 OPEN

Hi,
you are right, this parameter is currently not used as there is no IMU integration in this version. One easy way is to compute relative rotations using the IMU and add them in the sparse image alignment and pose optimization as prior to the optimization.
Best,
Christian

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@cfo Is there IMU support in the closed-source version?

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Hello everyone,
Is IMU integration available at this time?

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Hi @cfo,
I saw in your demo video, you was able control quad with SVO. This cannot be done unless (1) gravity vector in SVO has been aligned with IMU, (2) scale in SVO has been sufficiently recovered. Could you please share a little bit about how you achieved the control in the demo.
If both factors can be set manually, then how do we do that?

Thank you very much for your time in advance.

Regards,
Chang

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Hi @enjoychang,
as described in the paper, we use https://github.com/ethz-asl/ethzasl_msf to fuse the output of SVO with an IMU.
Here is a description on how to setup SVO with MSF: https://pixhawk.org/dev/ros/visual_estimation
best,
christian

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Hi @cfo,
Do you mean this paper: http://rpg.ifi.uzh.ch/docs/RSS15_Forster.pdf ?

Regards,
Gino

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@cfo I am afraid the link https://pixhawk.org/dev/ros/visual_estimation is corrupted. Is there any other relevant description about your work?Tks.

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@highlightz dev.px4.io is the new information site for the Pixhawk

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@mhkabir Yes, there is. The closed source version is now available as binaries for noncommercial use.

SVO 2.0 looks really awesome! http://rpg.ifi.uzh.ch/svo2.html

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