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Looping "IMU is not or recently initialized. Reseting active map... " #69
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I have the same problem. Who could explain it? |
The reason may be that ORB-SLAM3 only supports Global Shutter cameras. |
What is the camera type? |
It is an Android phone embedded camera and IMU. The streaming and IMU measurements are sent by client (cell phone) and processed in the server (laptop). But I don't think it is the problem of camera, since I could run the Monocular version, but not the Monocular-Inertial version. |
yes,i meet same question. I use camera-imu parameters which calibrated by kalibr, these parameters can work well in vins, but always reset in orbslam3. when i change imu noise parameters, orbslam3 always arise segment error. |
I also encountered this problem(these parameters can work well in vins), is there a solution? |
I find similar error like -
This loops continously. Any one found solution? |
I have the same issue! looking for solution |
Hi, @qliao001, |
Hi guys, @Ehsanmb @ShreyasManjunath @mccoychang Today I find out how to fix this problem. So in this situation, you can rebuild your application to let them have a unified coordinate system. |
I've been encountering this, and believe it or not - I've 'mitigated' it by changing the noise/random walk values in the yaml file to ridiculously small numbers, like 10e-8 small. I have no idea why this works. |
I have tried the suggestion of both @MiaoMiaoMeng and @pinkfloydfan (along with everything else on the web). But neither seem to work. I am currently using: ZED2 (@15fps publish rate, 1280x720 resolution) topics: (published with ZED ros wrapper [zed_wrapper]) with imu settings calibrated from kalibr. I hope a solution to this is found soon! *This is my first post ever on any Issue ever (i am this determined for an answer!). So if you need more info, please tell me |
@iamchoking sanity check: are the image frames from the camera timestamped? I was able to get ORB SLAM 3 working on an ESP32-CAM at about 12FPS, and an IMU from a drone flight controller. My workaround was setting the variances to extremely low values. DM me your configuration yaml file and I can have a look. |
@pinkfloydfan
The commented lines are the varaibles I have tried with and failed. |
Hi, I've been struggling with this error for a fewdays now. Did anyone find a solution? I'm guessing I would really need to "calibrate" the IMU together with the camera. Can something like this help: https://github.com/ethz-asl/kalibr/wiki/camera-imu-calibration |
Hello @MiaoMiaoMeng can you share your configure file about the camera? I have the same issue as yours, It can not detected the orb features when use imu. work good just with Mono mode. Many thanks. |
@qliao001 I believe the following can be causing this error:
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我也遇到了同样的问题,我多次标定,并且给了足够的运动,但还是循环失败,我找不出问题所在,有人解决这个问题吗 |
I'm also having this issue, trying to recalibrate the IMU using allan_variance_ros mentioned in A summary of mono-inertial initialization issues, and suggestions for others and then adjust the IMU noise parameters:
Then things got better. |
Hi many thanks for the great contribution! I have been working with monocular and multi-session version and all went well. Now I try to introduce the corresponding IMU sequence, but the system kept looping "IMU is not or recently initialized. Reseting active map... ". Could you please give some advice how can I tackle the problem? or is there any specific trick of collecting data for better IMU initialization?
Here is a screenshot, you can see that the system basically kept trying to initialize the IMU:
Thanks a lot!
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