NVIDIA-ISAAC-ROS / NVIDIA-ISAAC-ROS/isaac_ros_visual_slam
Isaacrosvslam on jetson orin nano and d435i drifting even when stationary
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- Dominant language
- C++
- Stars
- 1.5k
- Forks
- 206
- PR merge metrics
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Description
I already did allan variance and d435i imu intrinsic calibration using librealsense
i also tried to do rosbag and figure out issues but alas there was none i could find.
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
Start by reproducing the stationary drift on the Jetson Orin Nano with the D435i, using the existing rosbag approach and the reported Allan variance and librealsense IMU calibration. Done would be identifying the cause of the drift and documenting a reproducible fix or diagnostic result; the issue names no source files or tests.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision, robotics
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Quiet
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100