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Increased drift when vehicle is stationary #462

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yeoeun98 opened this issue Dec 13, 2024 · 1 comment

yeoeun98 commented Dec 13, 2024 •

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Hello,
I test VINS-Mono.

Drift increases when vehicle is stationary.

I don't know why this happens, and I don't know how to debug it.

< about setting >
( CAM )
img hz : 10hz
img size : 1920 x 1080

(IMU)
imu hz : 125hz

brucezhcw commented Mar 2, 2025

in stationary state, scale factor is not observable. maybe scale problem

if stationary case is usually in your test case, you can add ZUPT module in VINS

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