Marco Peredo

I also have the same question. I am trying to calibrate my IMU to use it with ORB-SLAM3. Therefore I need the data in the following units: IMU gyro noise:...

> @yaelbenoren, ORB-SLAM3 mono-inertial won't work well for the RGB sensor(rolling shutter) + IMU on D435i. Also mentioned on this [ISSUE](https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/94). I used Kalibr for extrinsic calibration and I was...

Hi, I am facing the exact same issue with Monocular-Inertial while reading data from my own recorded rosbag file. @Dcasadoherraez in my case the error happens always at the same...

Are you sure your NoiseGyro value is okay? It is way to big in comparison to the other 3 parameters. I am having the exact same behavior in Monocular-Inertial. I...

This happens after the IMU initialized itself. As with the Accel and Gyro inputs it is possible to estimate the direction of gravity, the whole map is rotated accordingly. To...

@sijinsebastian by default ORB-SLAM does not publish it. If you are in Monocular-Only you do not have a real scale and therefore you cannot calculate the velocity in real units....

@brianm-sra In the Pangolin Viewer there is a Localization Only button on the bottom left corner

> > t looks like when activating "Localization Only" Mode, ORB_SLAM3 will only try to relocalize in the active map and will ignore the non-active ones. Is this the expected...

@amburkoff I've got the same issue while using the D435i with ORB_SLAM3 as well. Which offline interpolation script did you use?

Update: when subscribing to the topics with gray images (instead of RGB), occurs the same problem.