Position and attitude drift

[ysong-aceinna]

Hi, thanks for your viso2_ros, it's a great job!
Currently, I have some questions of viso2_ros and look forward your support, thanks in advance :-)

My environment: Ubuntu 18.04, ROS Melodic.

My steps and questions:

• step 1. Download the source code from the default branch kinetic, and run catkin_make.
• step 2. Use test.bag which downloaded from "http://srv.uib.es/public/viso2_ros/sample_bagfiles/", run the demo.launch and the stereo_odometer works well and with no error feedback.
• step 3. Listen and save the pose x/y/z and roll/pitch/yaw information from rostopic '/stereo_odometer/pose'.
• - question 1: From the video in test.bag, the road is flat and just have one 90-deg right turn, I know the position and attitude is relative to the camera frame but not the car body frame, but even so, I still think the position and attitude I got with big drift, as below graph of test 1.
• step 4: repeat steps 2 and 3
• - question 2: from the result of step 4, I find the position and attitude not only still with big drift, but also with big difference with test 1, as below graph of test 2, I am very confused.
• - question 3: From the video in test.bag, I find the camera is face to the right side but not forward of vehicle, is it a good/helpful to improve the detection accuracy of algorithm?
• - question 4: do you have some newer code or advices, need I change some parameters to solve question 1 and 2?

thanks a lot!

[juliana-bastidas]

good afternoon ysong-aceinna,
I would like to communicate with you to ask some questions about the drift, would you be so kind to provide me with an email where I can communicate with you. thank you very much.