NVIDIA-ISAAC-ROS / NVIDIA-ISAAC-ROS/isaac_ros_visual_slam
IMU problem
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- Dominant language
- C++
- Stars
- 1.5k
- Forks
- 206
- PR merge metrics
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Description
1.When the camera +IMU is used to build the map, a similar barb phenomenon appears in the map trajectory. The reason is that the camera data loses the pose information generated by the IMU?
2.Can the IMU use gravity removal data as input? In addition, will the IMU use the compensating pose only when the image features are lost during the construction process or will the IMU data also be used in the optimization of the SLAM back-end?
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.
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- Open a pull request that references the issue number.
Research direction
The issue provides no files, tests, or entry points to follow. Begin by reproducing the camera-and-IMU mapping trajectory shown in the report and inspect the package's documented IMU behavior. Done requires an identified cause for the trajectory artifact and a confirmed answer or change covering gravity removal and IMU use in back-end optimization.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision, robotics
- Issue type
- Bug
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 20/100