Large drift when using IMU only

[antithing]

Hi,

I have the code running well on a D455, but I notice that when visual tracking is lost, the pose will drift quickly away from truth.

For example if the camera is static, and I block the cameras, the pose immediately drifts fast away.

Is there a way to improve the IMU-only tracking so that it stays reasonably accurate when visual points are lost?

Thanks!

[pattylo]

Hi I think for VIO software, when feature points tracking fails severely, it creates drastic drift; which in our opinion, it's totally normal. Personally, I don't think there is a very robust way to provide very robust IMU-only tracking, as it is well-known that IMU integration is prone to drift eventually due to its natural characteristic, i.e., sensitive to noise as well as high frequency integration. I hope the above resolve some of your concern. Thank you.