ModalAI Forum
    • Categories
    • Recent
    • Tags
    • Popular
    • Users
    • Groups
    • Register
    • Login

    Low stability in qvio due to low number of features

    VOXL-CAM
    4
    7
    509
    Loading More Posts
    • Oldest to Newest
    • Newest to Oldest
    • Most Votes
    Reply
    • Reply as topic
    Log in to reply
    This topic has been deleted. Only users with topic management privileges can see it.
    • Erez NehamaE
      Erez Nehama
      last edited by

      Currently, I'm using the voxl-cam for vio only. It's mounted on my self-made drone without px-4 (I only want to receive the qvio data).
      During flight, the vio resets due to a low number of features (and then it takes time to initialize again). I'm adding some images of the qvio overlay, with cases where the image seems fine and the drone is stable (by the way it can happen on the ground as well), but not enough features were found
      image (2).png image (3).png image (4).png

      Is there a way to increase the number of valid "good" features? Or maybe another way to increase the stability of the algorithm?

      1 Reply Last reply Reply Quote 0
      • Chad SweetC
        Chad Sweet ModalAI Team
        last edited by

        White walls are very tough for any computer vision algorithm, so those may not ever work well

        The images look darker than I would expect. Have you tweaked the exposure settings at all? you could try increasing the ae_desired_msv which is configured in voxl-camera-server and see if that helps add contrast

        1 Reply Last reply Reply Quote 0
        • Erez NehamaE
          Erez Nehama
          last edited by

          Thank you very much! it seems to work a lot better. I've increased ae_desired_msv from 60 to 80.

          Joshua ErmiasJ 1 Reply Last reply Reply Quote 0
          • Joshua ErmiasJ
            Joshua Ermias @Erez Nehama
            last edited by

            @Erez-Nehama What command did you type in to increase the "ae_desired_msv"? I've tried using voxel-camer-server and voxel-send-command but neither let me change that value directly @Chad-Sweet

            tomT 1 Reply Last reply Reply Quote 0
            • tomT
              tom admin @Joshua Ermias
              last edited by

              @Joshua-Ermias It can be set in /etc/modalai/voxl-camera-server.conf

              Joshua ErmiasJ 1 Reply Last reply Reply Quote 0
              • Joshua ErmiasJ
                Joshua Ermias @tom
                last edited by

                @tom would you recommend using a text editor like Vim and restarting the service or is there a better way to do it?

                tomT 1 Reply Last reply Reply Quote 0
                • tomT
                  tom admin @Joshua Ermias
                  last edited by

                  @Joshua-Ermias yes that would be the easiest way. You can either restart the service with systemctl restart voxl-camera-server or just power cycle your VOXL

                  1 Reply Last reply Reply Quote 1
                  • First post
                    Last post
                  Powered by NodeBB | Contributors