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If something is in front of our camera, will it affect the VIO navigation?
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The algorithm is quite stable when it comes to recognizing moving objects, we regularly walk in front of or wave our hands in front of the camera to test this. It will blow up if you're completely covering the lens though.
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I integrated it on the drone, the drone sees its feet and motors, does that affect it?
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Not modalai, but something that helped me debug this very same issue was installing voxl-portal, and using that to view the qvio stream, which will overlay the points onto the tracking camera screen. If it creates points at your drone's motors and feet, then I presume it would be a problem