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Published 20 hours ago • verified publisher icon MIT-SPARK

Large localization errors when running with only D435i

Open BarzelS opened this issue 5 years ago • 2 comments

Description:

  1. Running the Kimera-VIO-ROS with D435i
  2. Normal movement around the 2 room and back to the starting point on the table.
  3. Large drift in terms of localization when getting back to the starting point

Command:

  1. roscore
  2. roslaunch kimera_vio_ros kimera_vio_ros_realsense_IR.launch
  3. rosbag play ~/d435i_recs/my_bag.bag
  4. rviz

The bag was recorded using:

  1. roslaunch realsense2_camera rs_camera.launch unite_imu_method:=linear_interpolation
  2. rosrun dynamic_reconfigure dynparam set /camera/stereo_module emitter_enabled 0
  3. rosbag record -a

Console output:

Suppose to be x: 0 , y:0 , z:0 World to base_link when getting back to starting point: header: seq: 0 stamp: secs: 1588772794 nsecs: 545706272 frame_id: "world" child_frame_id: "base_link" transform: translation: x: -0.0482988878966 y: -0.982817650416 z: 1.06684057522

Additional files:

Please attach all the files needed to reproduce the error.

Please give also the following information:

  • SparkVio branch, tag or commit used
  • GTSAM version used: master branch
  • OpenGV version used: master branch
  • OpenCV version used: 3.4.2
  • Operating system and version (e.g. Ubuntu 16.04 or Windows 10): ubuntu 18.04
  • Did you change the source code? (yes / no): only testlogger.cpp in order to allign with gtsam

BarzelS avatar May 07 '20 07:05 BarzelS

Just saw that you made a new issue-- I've replied to your original question here Can you check to see if Kimera is working properly using this rosbag?

violetteavi avatar May 07 '20 17:05 violetteavi

Just saw that you made a new issue-- I've replied to your original question here Can you check to see if Kimera is working properly using this rosbag?

Yes, it's working properly, but its a short bag. For example in my place(indoor environment), I'm recording a bag file which includes:

  1. Starting from a point at my table.
  2. Walking to the next room(5m away).
  3. Going back to the starting point at my table. Excepted result: world to base link tf: x=0, y=0, z=0 But I'm getting: frame_id: "world" child_frame_id: "base_link" transform: translation: x: -1.25345615507 y: -0.320596752833 z: 0.992033035094

Thanks

BarzelS avatar May 10 '20 06:05 BarzelS