Massive drift, can you review my config?
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I see you've gotten the GPH9 to work with VINS. I have ROS, gopro_ros, VINS-Fusion, Kalibr, etc. set up and running, including extraction using gopro_ros. However, I'm getting massive amounts of positional drift/acceleration, even when the device is sitting still. Simple movements like tracing the edge of a coffee table or driving a small city block, end up with 10s to 100s of meters off, with the path shooting off in one direction.
I've fully calibrated my GoPro per Patrick Geneva's tutorial, and all the bounds in the final report are well within 3 sigma limits. Static, Static IMU, and Dynamic calibration all look very good.
Since you've gotten this working, could you have a look at my config, and let me know if you see anything wrong? And/or do you have your original config posted anywhere?
GoPro Settings
- 1080p/24
- Hypersmoothing is OFF
the parameters look good. I am not sure what's happening with your data.
Okay, thanks for having a look.