urban driving huge error

[haibo9916]

When using your GVINS to test the urban driving dataset, I encountered a significant error on a section of the road. What is the problem and how to solve it.？The huge error occurred in the red box of the following figure @shaojie @dvorak0 @WayneTimer @hlx1996

[RobotYi1]

you have solved this problem now?

[haibo9916]

you have solved this problem now? no

[UCAS-apm-Bo-Zhang]

I also encountered the same issue. When trajectory reset happens, you can see warning messages output in the terminal. This is the program's built-in failureDetection() function, which does the following: a. If a fault is detected, it performs operations like clearing states, setting parameters, etc., and returns; b. If no fault is detected, it performs operations like sliding window, removing failed feature points, updating key pose vectors, and the latest rotation matrix and position vector. You can try commenting out the fault detection function to solve this issue, but whether it will affect accuracy is still debatable.