NVIDIA-ISAAC-ROS / NVIDIA-ISAAC-ROS/isaac_ros_visual_slam
Is it possible to increase odometry/slam rate past camera rate?
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- Dominant language
- C++
- Stars
- 1.5k
- Forks
- 206
- PR merge metrics
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Description
If I understand correctly, an IMU is (for now) essentially a failover to be used in case visual tracking is lost; does this mean that pose calculations are done exclusively using the stereo camera while tracking is available, and until proper visual-inertial fusion is implemented, the rate of publication for odometry messages will exactly match the image publication rate?
Thanks!
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
No files, tests, or entry points are named. Start by reviewing the visual tracking, IMU fallback, and odometry publication paths to determine whether publication is tied to camera input; done means answering the rate question or defining a confirmed implementation scope.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100