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!
