SVO scale position

[szebedy]

SVO scale position

[szebedy]

map_scale: 1.0 parameter means that when you start SVO, the average distance from the camera to the ground needs to be 1 meter. This needs to be done very precisely otherwise the output of SVO will be imprecise and vision based navigation will not work properly.

During real flight tests I measured this 1 meter from the ground and always launched SVO while holding the drone in my hand 1 meter above the ground. If I held the drone a little bit higher or lower (error >= 10 cm) then I noticed huge oscillations during the flight.

[logindiamant]

Is map_scale as parameter work in stereo odometry?

I need automatic_reinitialization in every failure
As I know, scale is calculate from 2 cam in every reinitialization...

[szebedy]

I don't have any experience with stereo odometry, better ask from the developers of SVO.

[logindiamant]

Problem is

[logindiamant]

I solve it!

yaml file

pipeline_is_stereo: true
automatic_reinitialization: true

#grid_size: 35
use_async_reprojectors: true #false
use_imu: true
poseoptim_prior_lambda: 1.0 #0.0

#poseoptim_using_unit_sphere: true

img_align_prior_lambda_rot: 50.0 #0.0
img_align_prior_lambda_trans: 0.01 #0.0

img_align_max_level: 2 #4
img_align_min_level: 1 #2

img_align_robustification: true #false
#img_align_use_distortion_jacobian: true #false
img_align_est_illumination_gain: true #false
img_align_est_illumination_offset: true #false

#poseoptim_thresh: 2.0

seed_convergence_sigma2_thresh: 20 #200

use_threaded_depthfilter: true #true

quality_min_fts: 40 #50
quality_max_drop_fts: 80 #40

max_depth_inv: 0.1 #1.0/50.0
min_depth_inv: 10.0 #1.0/0.5
mean_depth_inv: 0.5 #1.0/2.0

map_scale: 1 #5.0

kfselect_criterion: DOWNLOOKING #FORWARD
kfselect_numkfs_upper_thresh: 180 #120
kfselect_numkfs_lower_thresh: 90 #70
kfselect_min_dist_metric: 0.001 #0.01
kfselect_min_angle: 6 #20
kfselect_min_disparity: 40 #40
kfselect_min_num_frames_between_kfs: 0 #2

depth_filter_affine_est_offset: true #true
depth_filter_affine_est_gain: true #false

reprojector_affine_est_offset: true #true
reprojector_affine_est_gain: true #false

[bednarhonza]

Hi @logindiamant,
I am using also RealSense, specifically D435i and I'm facing the same issue as you. I have tried your settings, but it did not help, still the same. Did you find the values just experimentally?

Thanks,
Jan

[logindiamant]

Hi, @jwenda,
I find this values just experimentally
We abandoned the visual odometry, now use 3D lidars for localization
Need high quality hard time synchronization CAMs&IMU
High quality calibration CAMs&IMU procedure to find rotation matrises
Need some fusion software (Kalman filtering) to use IMU information
Finally, may be you find the same set of parameters...

[bednarhonza]

Hi @logindiamant,
alright, thanks. I had a mistake in the camera calibration, now it works much better, but I have to test it furthermore.