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verified publisher icon KumarRobotics

Drift in the start and the end

Open Charlesguo11 opened this issue 2 years ago • 1 comments

I am trying to run msckf on WHUVID dataset with stereo+IMU, when running on the fast-speed dataset, there is drift in the beginning ,however then running on the low-speed dataset there is drift in the end. The upper is fast-speed using evo tool to evaluate: VINSplot_raw The other is low-speed: VINSplot_raw And I wounder why is like this? I'd appreciate it for your response.

Charlesguo11 avatar Jan 23 '24 07:01 Charlesguo11

And every time the total path length predicted by MSCKF is longer than the ground truth one. Is this because there is no stationary time in the beginning?

Charlesguo11 avatar Jan 23 '24 08:01 Charlesguo11