ZhaoChen

Hi, @mfehr I guess what you said also answered my issue #54, right? I am mounting the zr300 on a wheeled robot, and the estimated moving speed is always faster...

Hi @mfehr, thank you very much. Then could you tell me a bit more about how to integrate wheel odometry into ROVIOLI? And I also need to increase accelerometer covariance...

Yes, I am willing to do it (or make some contribution if I can) since I really need this feature to work on a wheeled robot. So please tell me...

Hi @mfehr , but I found something like [this](https://github.com/ethz-asl/maplab_rovio/blob/3c1a6938145bbe5ea42cdec84dc11771a4e52b6a/include/rovio/RovioRosNode.hpp#L231), and [this](https://github.com/ethz-asl/maplab_rovio/blob/3c1a6938145bbe5ea42cdec84dc11771a4e52b6a/include/rovio/VelocityUpdate.hpp#L1). It seems like feeding the velocity data from the external sensor is very straightforward. Or I am totally wrong?

Hi @srabiee, one of my coworkers finished the integration, which works well on our platform. Since the original rovio already has the function to process the velocity update, he told...

Hi, @mfehr @schneith although feeding the wheel data to the ROVIOLI solves the scale issue, but I am still wondering why Tango device running its own VIO algorithm did not...

@dymczykm I am pretty sure that the phone was rigidly mounted. We tested it indoor many times and it worked reliably.

@dymczykm Thank you for the reply! Firstly, for creating the map I was using in the video, I built four maps separately then merged and optimized it using these commands....

And sometimes, when /debug_T_G_I_raw_localization published a red point (successful localization occurred), the trajectory published by /debug_T_G_I would not be corrected and relocated to the red point; the origin trajectory continued,...

Hi @dymczykm, it took me some time to test the result of your suggestion since my old lab (the map I posted before) was getting redecorated. Therefore I used your...