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Develop v2.6 - Dynamic Initialization and Async Publishing
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@goldbattle goldbattle released this 21 Mar 19:17
· 183 commits to master since this release
v2.6
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Learn about vigilant mode.

Key Changes

  • Dynamic initialization has been added alongside the current static one.
    • New dependency requirement of ceres-solver to support the MLE refinement
    • Recovered covariance still requires some inflation (likely due to being close to degenerate motion)
    • Tested on existing datasets, seems to work reasonable well, but please let us know
    • Closes #204 and #222
  • The frontend now has two threads. The IMU will always publish the state odometry at its rate, along with recording the IMU readings. This should help deployment on real robots were the latency is key.
  • Odometry publish is now in the local frame to match the ROS spec (fixes #224)

Dynamic initialization is an implementation based on:

Dong-Si, Tue-Cuong, and Anastasios I. Mourikis. "Estimator initialization in vision-aided inertial navigation with unknown camera-IMU calibration." 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2012.

Demo Youtube Video:
https://www.youtube.com/watch?v=eSQLWcNrx_I

demo.mp4
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