Andrey Penkovskiy

Sometimes, it needs to inflate IMU noise parameters by factors 10, 100, 1000 to find the best working configuration in VIO/LIVO setups. Also, if you use a camera in this...

It's true that COLMAP outputs are in "world-to-camera" format. So you need to invert those poses to get them in "camera-to-world". Also, like you said, COLMAP uses OpenCV convention for...

On `370117431ffc5dc000fb46f6e581b74bdb2c3ff8` commit I had to add a conversion to match the full canvas, otherwise matching the normalized keypoints sampled from `model.sample` was not working correctly. Not sure if this...

Here there might be at least two concerns: 1) As you can see from the logger, the visual-inertial mode ORB-SLAM struggles with initializing given IMU readings. I'm not surprised, you're...

About loop closing, yes; I forgot that there is no switching off in the YAML. By the way, in terms of simplicity, stereo camera is much better starting point, in...

Hello; well, it depends on the simulator you're using; I think the calibration can be obtained from the URDF model of your robots; depends on your robot description. Just find...

Well, with IMU such "performance" can be obtained in the following cases: 1. IMU extrinsics. Make sure you set `Tbc` in the expected convention. If it requires `camera -> imu`...