Migrating from QVIO to OpenVINS (SDK1.6)
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Hi Modal,
Cleo is in the evaluation phase of switching from QVIO to OpenVINS (specifically version https://gitlab.com/voxl-public/voxl-sdk/services/voxl-open-vins-server/-/tags/v0.5.7). As part of this process, I would like to gather the latest information from the VOXL-OpenVINS developers regarding what to expect in terms of relative performance moving from QVIO to OpenVINS. Additionally, are there any platform/airframe specific tuning routines (besides of course cam<->imu extrinsics and cam intrinsics)? We have a very different airframe than the starling
https://cleorobotics.com/specifications/Some general areas that come to mind that we didn't touch on QVIO but might be relevant to OpenVINS:
- IMU static intrinsics (calibrated once)
- IMU dynamic calibration (ie temperature based)
- IMU noise tuning
- IMU<->Camera time synchronization
- Synchronization of 3 camera frames (we have 3 non-overlapping tracking cameras)
- The parameters in the different https://gitlab.com/voxl-public/voxl-sdk/services/voxl-open-vins-server/-/tree/master/misc_files/usr/share/modalai/voxl-open-vins/VoxlConfig?ref_type=heads files, which I noticed were not the same.
I'm sure I'm forgetting other areas that could affect OpenVINS performance, I'm by no means a CV or filter expert
Overall, we want our migration to be as seamless as possible and result in the best performance of OpenVINS as possible on our airframe with our sensor suite. Your assistance in this is very much appreciated! -
Tagging people who might have the most context here: @Cliff-Wong @Clifford-Wong @zauberflote1, any comments / studies on comparative performance, as well tuning routines to get the best performance out of a running OpenVINS on a new airframe?
Perusing posts about OpenVINS from the past year: https://forum.modalai.com/search?matchWords=all&in=titles&showAs=posts&replies=&repliesFilter=atleast&timeFilter=newer&timeRange=&sortBy=topic.lastposttime&sortDirection=desc&term=openvins I found some information about drifting and how to address it. But I'm not sure if that's the most up to date advice, it looks like the module is still under active development. Is the module in a place where it is ready for general customer use? The starling2 drones that ship with SDK1.6 use OpenVINs for localization, not QVIO, correct?
Thank you for any input!
