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Parameter-Tuning-Guide.md

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Parameter Tuning Guide

UltimateSLAM provides a number of parameters than can and should be tuned for optimal tracking performance. An exhaustive list of parameters can be obtained by running:

rosrun ze_vio_ceres ze_vio_ceres_node --help

In the rest of this page, we focus on the most important parameters.

Event frame parameters

The parameters below allow to control how event frames are generated.

Integration parameters

  • --vio_frame_size: number of events used to draw each event frame (default: 15000 for DAVIS240C). Use a smaller number when the expected amount of texture is small (e.g. 5000 for shapes_6dof dataset).

  • --data_size_augmented_event_packet: size of augmented event packets (which are passed into the frontend, responsible for event frame drawing), expressed in number of events. This value should be greater than --vio_frame_size.

  • --vio_do_motion_correction: whether to enable or disable motion correction using the IMU, estimated velocity and median scene depth (default: true). We recommend to leave it enabled unless you are using a very small frame size, or for debugging purposes.

  • --noise_event_rate: if the local event rate is less than noise_event_rate per frame, those events are considered to be noise, and the VIO will discard the measurements from that event frame, adding a strong "static" prior to the backend.

Frequency of event frame generation (for events-only pipeline)

In the events-only pipeline, you can specify fully at which rate the event frames will be created with the parameters below.

In the events + frames pipeline, the event frame rate is the same as the grayscale image framerate (i.e. ~20 Hz for DAVIS240C).

The parameters below apply to the events-only pipeline.

  • --data_use_time_interval: specify whether events packets are created at a fixed temporal rate (true) or fixed event rate (false).

  • --data_interval_between_event_packets: specifies the interval between two event packets. This value is interpreted either as milliseconds if --data_use_time_interval is true, or as number of events if false.

Calibration parameters

  • --timeshift_cam_imu: temporal offset (in seconds) between the IMU and the camera. Use Kalibr to estimate it.
  • --calib_filename: filename of the YAML camera calibration file (in the calibration folder).

Logging parameters

  • --log_dir: folder in which the logging info (estimated camera poses, timing information) will be saved.
  • --vio_trace_pose: whether or not to output the estimated poses to a file.

Visualization parameters

  • --vio_viz_feature_tracks: whether to show the trace of the feature tracks.