Consistent Loss in Tracking after X Frames in Imu Mono mode

Open geoeo opened this issue 1 year ago • 5 comments

Hello,

I have a problem with the tracking from aerial images. It seems to be that after x frames the IMU initialization kicks in and I have a short loss in tracking. (but Im not sure for it is this!) The map may recover or may not.

Have you also observed this? What can I do to mitigate this? I tried to increase chi2 noise values and reduce some inlier count. This has helped, but the loss still occurs.

In the images you can see a white space where the tracking was lost, but the map was able to recover.

orb_short_lost_1 orb_short_lost_2

Mar 06 '24 08:03 geoeo

you can check the timestamp consistency between the picture and the imu data

Apr 18 '24 03:04 aboluo