About loop closure in IMU mode

[hyuny223]

Hello. I'm using ORB SLAM3 :) My question is that why does loop closure work little in visual-inertial mode?

I'm testing on the euroc dataset, vicon room for running loop closing easily(or blackbird). When I run with visual only mode, loop closing works very well, but I have never seen it in visual-inertial mode. I checked that sim3 solver almost cannot pass the CheckInliers(), which means the reprojection errors between current and bow key frames are too higher than the thresholds. This might be because of the ComputeSim3() or anything else..?

So iterate() cannot estimate best pose and inliers cannot over 15 mnInliersi>mRansacMinInliers. Does anyone have insight for it? If you can use visual-inertial mode with loop closure, it would be very powerful tracking system.