8000 Initial velocity for initialization · Issue #47 · lukasvst/dm-vio · GitHub
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Initial velocity for initialization #47

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GeJintian opened this issue Oct 5, 2023 · 1 comment
Open

Initial velocity for initialization #47

GeJintian opened this issue Oct 5, 2023 · 1 comment

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@GeJintian
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Hello, thank you for your work! However, when I ran dm-vio on nuscenes dataset, I met with initialization failure. Therefore, I wonder if you require the initial velocity to be 0 for a good initialization?
@lukasvst
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No, there is no assumption on 0 initial velocity in the work.

Is the visual-only initializer failing or does it then not get into the VIO state (indicating the the visual-inertial initializer does not succeed)?

For driving datasets it can be useful to add a prior on the initial movement direction to help the visual initializer (https://github.com/lukasvst/dm-vio/blob/master/configs/4seasons.yaml#L6-L7). However, the current implementation of these settings assumes that the camera is mounted looking forward.

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@lukasvst @GeJintian
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