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Heavy drift on combining stereo camera + IMU - ZED2 #217
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For me, adjust IMU's parameters could help. I slightly increase "acc_n", "gyr_n", "acc_w" and "gyr_w", and the strange drift disappears. |
你好,请问你是怎么增加这四个值的,增加多少能改善效果,能教教我吗 |
Hello, how do you increase these four values? How much can be increased to improve the effect? |
For my ZED2, I set acc_n=0.2, gyr_n=0.1, acc_w=0.05 and gyr_w=0.0005 |
OK,THANKS |
Hey, i am encountering the exact same problem with zed2 stereo camera, when combined with IMU it has extremely heavy drift. I dont even move the camera and it starts drifting and rotates in a ellipse format. I don't know which tuning parameters to control in order to reduce this. The timestamps and time offsets seem okay as well. Did you find a solution since you put it as completed?
10.08.2023_15.47.53_REC.mp4
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