Big IMU acc bias estimation!

[TAO270]

Why does the program always show that Big IMU acc bias estimation even if we hold the sensor by hand and move slowly?

[qintonguav]

Usually, that's a wrong estimation caused by unsynchronization.

[LeRoii]

I got the same problem but my device was in a car, the problem happened when the car started moving, I wonder is this also caused by unsynchronization or the motion was so aggressive @qintonguav

[siyuada]

I got the same problem as @PatricWang ,happened when the car started moving. Maybe sometimes vinsmono can overcome this,played well,sometimes it just failed. Have you got any good solution?

[liuxiao916]

Hi, I solve this problem by check my rotation matrix between camera and IMU. Please read the example 2 and 3 in extrinsic_parameter_example.pdf. Make sure you give the VINS the right extrinsic matrix.