@jh81306
Hello there,
Yes, real time performance is achievable with 3 cameras at 30fps, evidencing the benefits of our hardware accelerated GPU feature tracker. From this perspective, if you plan on using GPU-heavy applications, QVIO may be the second best option, as it uses remote procedure calls between the linux processor and the DSP, freeing GPU usage. However, due to the inherent nature of the DSP (L2 Cache, etc) and timing considerations, running QVIO on 3 Cameras may not guarantee a consistent update rate depending on the processor load/scheduler priorities. In essence, choosing one or the other is a trade-off that should be based on user use-case.
In terms of estimator robustness, our branch of OpenVINS has been considerably modified to support accurate estimates under degraded conditions, and all ModalAI UAV platforms have gone through extensive calibration in order to obtain the optimal parameter set. Hence, in terms of estimator quality, OVINS outperforms QVIO, but requires carefully calibration of your visual-inertial sensors. Finally, If you opt to acquire a ModalAI Vision drone, OpenVINS should be fully functional out-of-the-box, facilitating a potential pipeline transition.
