Attempt to reduce drift with the help of stereo camera
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Hello, @James-Strawson @Tom-Kaufmann @Eric-Katzfey
I've been using Starling for quite a while. Congratulations on a great product.One of the things I noticed was that when using voxl-mapper for a significant time (like 15mins), the accumulated drift becomes a serious issue. I want to try and reduce the accumulated drift.
I possess a stereo camera (from ModalAI itself). The VIO docs (https://docs.modalai.com/flying-with-vio/) mention that - "VIO could be reconfigured to use one of the stereo sensors instead of the tracking sensor".
I know it says instead but is there a way to use one of the stereo cameras as a second tracking camera? (One of them being the normal 45-degree angled tracking camera and the other being one of the cameras from the front-facing stereo setup.I am working on this now, so I'll quickly give you feedback on your suggestions. Any insights or suggestions would be helpful.
Thank you
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@Jetson-Nano The current version of VIO (qvio) can only use a single sensor at a time. We will be switching to openvins based VIO in the future which does allow multiple sensors.
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Understood. Thanks for the help.
Another option is to use an OpticalFlow/Rangefinder with an external FC. I have completed this setup successfully. I can use my MAV in position mode with the fused odometry without issues. VOA works as well.I know from the docs and GitLab that voxl-mapper takes 2 inputs whub_body_wrt_fixed and tof. Is there a way to pass the fused odometry instead of whub_body_wrt_fixed? [ I want the mapper to use this data instead of whub_body_wrt_fixed]. The message type of the fused odometry is nav_msgs/Odometry.
- Will I need to modify the voxl-mavlink-server to achieve this?
- How do I get the mapper to use the fused odometry data?
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@Jetson-Nano Could you please start a new forum post for this topic? It won't get much attention buried in this post. Thanks!
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@Eric-Katzfey
Will do. Thanks again