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Published 20 hours ago • verified publisher icon HKUST-Aerial-Robotics

hi，how can i solve the problem of "Linear solver failure. Failed to compute a step: Eigen failure"?

Open hfw6310 opened this issue 3 years ago • 6 comments

I run VINS but I also meet the question below, can you help me and give me some advice? [ INFO] [1633764303.358300665]: Not enough features or parallax; Move device around [ INFO] [1633764303.558178967]: Not enough features or parallax; Move device around [ INFO] [1633764303.758299942]: Not enough features or parallax; Move device around [ INFO] [1633764303.958166582]: Not enough features or parallax; Move device around [ INFO] [1633764304.158256845]: Not enough features or parallax; Move device around [ INFO] [1633764304.358125587]: Not enough features or parallax; Move device around [ INFO] [1633764304.558297627]: Not enough features or parallax; Move device around [ INFO] [1633764304.758651285]: Not enough features or parallax; Move device around [ INFO] [1633764304.958149101]: IMU excitation not enouth! [ INFO] [1633764304.958319364]: Not enough features or parallax; Move device around [ INFO] [1633764305.158121615]: IMU excitation not enouth! [ INFO] [1633764305.158291854]: Not enough features or parallax; Move device around [ INFO] [1633764305.358410640]: IMU excitation not enouth! [ INFO] [1633764305.358723958]: Not enough features or parallax; Move device around [ INFO] [1633764305.558236489]: IMU excitation not enouth! [ INFO] [1633764305.558596570]: Not enough features or parallax; Move device around [ INFO] [1633764305.758165483]: IMU excitation not enouth! [ INFO] [1633764305.758447708]: Not enough features or parallax; Move device around [ INFO] [1633764305.958109735]: IMU excitation not enouth! [ INFO] [1633764305.958321996]: Not enough features or parallax; Move device around [ INFO] [1633764306.158214085]: IMU excitation not enouth! [ INFO] [1633764306.158411138]: Not enough features or parallax; Move device around [ INFO] [1633764306.358250626]: IMU excitation not enouth! [ INFO] [1633764306.358558447]: Not enough features or parallax; Move device around [ INFO] [1633764306.558188121]: IMU excitation not enouth! [ INFO] [1633764306.558436383]: Not enough features or parallax; Move device around [ INFO] [1633764306.758064883]: IMU excitation not enouth! [ INFO] [1633764306.758290994]: Not enough features or parallax; Move device around [ INFO] [1633764306.958310455]: IMU excitation not enouth! [ INFO] [1633764306.958641351]: Not enough features or parallax; Move device around [ INFO] [1633764307.158264721]: IMU excitation not enouth! [ INFO] [1633764307.158581090]: Not enough features or parallax; Move device around [ INFO] [1633764307.358123889]: IMU excitation not enouth! [ INFO] [1633764307.358290225]: Not enough features or parallax; Move device around [ INFO] [1633764307.558282806]: IMU excitation not enouth! [ INFO] [1633764307.558596312]: Not enough features or parallax; Move device around [ INFO] [1633764307.758248169]: IMU excitation not enouth! [ INFO] [1633764307.758574275]: Not enough features or parallax; Move device around [ INFO] [1633764307.958218904]: IMU excitation not enouth! [ INFO] [1633764307.958496764]: Not enough features or parallax; Move device around [ INFO] [1633764308.158156280]: IMU excitation not enouth! [ INFO] [1633764308.158315890]: Not enough features or parallax; Move device around [ INFO] [1633764308.358280377]: IMU excitation not enouth! [ INFO] [1633764308.358640134]: Not enough features or parallax; Move device around [ INFO] [1633764308.558358099]: IMU excitation not enouth! [ INFO] [1633764308.558651638]: Not enough features or parallax; Move device around [ INFO] [1633764308.758152844]: IMU excitation not enouth! [ INFO] [1633764308.758382023]: Not enough features or parallax; Move device around [ INFO] [1633764308.958133184]: IMU excitation not enouth! [ INFO] [1633764308.958352007]: Not enough features or parallax; Move device around [ INFO] [1633764309.158225924]: IMU excitation not enouth! [ INFO] [1633764309.158515069]: Not enough features or parallax; Move device around [ INFO] [1633764309.358443489]: IMU excitation not enouth! [ INFO] [1633764309.358728786]: Not enough features or parallax; Move device around [ INFO] [1633764309.558129282]: IMU excitation not enouth! [ INFO] [1633764309.558291429]: Not enough features or parallax; Move device around [ INFO] [1633764309.758148877]: IMU excitation not enouth! [ INFO] [1633764309.758341960]: Not enough features or parallax; Move device around [ INFO] [1633764309.958265854]: IMU excitation not enouth! [ INFO] [1633764309.958630636]: Not enough features or parallax; Move device around [ INFO] [1633764310.058207336]: IMU excitation not enouth! [ INFO] [1633764310.058542901]: Not enough features or parallax; Move device around [ INFO] [1633764310.158208541]: IMU excitation not enouth! [ INFO] [1633764310.158981968]: Not enough features or parallax; Move device around [ INFO] [1633764310.258126896]: IMU excitation not enouth! [ INFO] [1633764310.258525405]: Not enough features or parallax; Move device around [ INFO] [1633764310.358749119]: IMU excitation not enouth! [ INFO] [1633764310.358977601]: Not enough features or parallax; Move device around [ INFO] [1633764310.458231506]: IMU excitation not enouth! [ INFO] [1633764310.458398425]: Not enough features or parallax; Move device around [ INFO] [1633764310.558345834]: IMU excitation not enouth! [ INFO] [1633764310.558577480]: Not enough features or parallax; Move device around [ INFO] [1633764310.658295364]: IMU excitation not enouth! [ INFO] [1633764310.658584135]: Not enough features or parallax; Move device around [ INFO] [1633764310.758316182]: IMU excitation not enouth! [ INFO] [1633764310.758615507]: Not enough features or parallax; Move device around [ INFO] [1633764310.858453379]: IMU excitation not enouth! [ INFO] [1633764310.858733042]: Not enough features or parallax; Move device around [ INFO] [1633764310.958487123]: IMU excitation not enouth! [ INFO] [1633764310.958838810]: Not enough features or parallax; Move device around [ INFO] [1633764311.058346686]: IMU excitation not enouth! [ INFO] [1633764311.058606123]: Not enough features or parallax; Move device around [ INFO] [1633764311.158152224]: IMU excitation not enouth! [ INFO] [1633764311.158317643]: Not enough features or parallax; Move device around [ INFO] [1633764311.258390610]: IMU excitation not enouth! [ INFO] [1633764311.258679980]: Not enough features or parallax; Move device around [ INFO] [1633764311.358196297]: IMU excitation not enouth! [ INFO] [1633764311.358386355]: Not enough features or parallax; Move device around [ INFO] [1633764311.458247806]: IMU excitation not enouth! [ INFO] [1633764311.458416283]: Not enough features or parallax; Move device around [ INFO] [1633764311.558372885]: IMU excitation not enouth! [ INFO] [1633764311.558660407]: Not enough features or parallax; Move device around [ INFO] [1633764311.658400245]: IMU excitation not enouth! [ INFO] [1633764311.658642242]: Not enough features or parallax; Move device around [ INFO] [1633764311.758465089]: IMU excitation not enouth! [ INFO] [1633764311.758843903]: Not enough features or parallax; Move device around [ INFO] [1633764311.858437011]: IMU excitation not enouth! [ INFO] [1633764311.858713801]: Not enough features or parallax; Move device around [ INFO] [1633764311.958231290]: IMU excitation not enouth! WARNING: Logging before InitGoogleLogging() is written to STDERR W1009 15:25:12.022457 23662 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W1009 15:25:12.023494 23662 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W1009 15:25:12.028426 23662 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W1009 15:25:12.029412 23662 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W1009 15:25:12.032196 23662 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W1009 15:25:12.034991 23662 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W1009 15:25:12.035960 23662 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W1009 15:25:12.042563 23662 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W1009 15:25:12.045603 23662 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W1009 15:25:12.048583 23662 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. [ INFO] [1633764312.058313866]: IMU excitation not enouth! [ INFO] [1633764312.158444527]: IMU excitation not enouth! [ INFO] [1633764312.258694541]: IMU excitation not enouth! [ INFO] [1633764312.258930884]: Not enough features or parallax; Move device around

image @qintonguav

hfw6310 avatar Oct 10 '21 09:10 hfw6310

Hello. I recently experienced the same problem, as well as a serious shift in the trajectory during the initial phase of SLAM. Do you know how to solve this problem?

EriqZhao avatar Oct 09 '22 03:10 EriqZhao

Hello, I got the same question. How did you solve it?

YoungHaulk avatar Feb 19 '23 12:02 YoungHaulk

There might be several reasons why those log messages occur:

  1. IMU data stream issues. Check device hardware connection and IMU data frequency. Also, check if the units of IMU readings are m/s^2 for the accelerometer data and rad/s for the gyro data;
  2. Camera and IMU unsynchronization. If a time offset between two data streams is too large, VINS cannot perform.
  3. Extrinsic between camera and IMU. Check if the relative transformation between two sensors is calibrated correctly.

In addition, VINS needs some movement of a device to initialize inertial variables. Also, make sure you perform enough rotation and translation of the device and the camera does not look at a flat surface.

WFram avatar Feb 20 '23 23:02 WFram

There might be several reasons why those log messages occur:

  1. IMU data stream issues. Check device hardware connection and IMU data frequency. Also, check if the units of IMU readings are m/s^2 for the accelerometer data and rad/s for the gyro data;
  2. Camera and IMU unsynchronization. If a time offset between two data streams is too large, VINS cannot perform.
  3. Extrinsic between camera and IMU. Check if the relative transformation between two sensors is calibrated correctly.

In addition, VINS needs some movement of a device to initialize inertial variables. Also, make sure you perform enough rotation and translation of the device and the camera does not look at a flat surface.

Thank you very much for your answer！ The reprojection error result of the Extrinsic between the camera and the imu is 0.6 pixels (the calibration tool used is kalibr).So I don't think it is caused by external parameter calibration. Before the image is input into vins, I have done some preprocessing operations. Therefore, I suspect that there is a problem with the time stamp synchronization of the image and the imu. Thank you, brother！

YoungHaulk avatar Feb 23 '23 02:02 YoungHaulk