VO or VIO

Robotics & Edge Computing Robotics - Isaac Isaac ROS
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1

hi guys
just a quick question. is the fusion with the imu “enabled” yet? in the past there was some talk to enable it and not just as a fallback.

If so, is there anyway to check if it is working?

Thank you

2

Hi @hermanndererdmann

Thank you for your message. Let me address all of your questions:

Visual Inertial Odometry is currently enabled only for a single stereo camera at this time.

We have a special input parameter called debug_imu_mode to verify the correct orientation of the axes of the IMU.

This mode is specifically designed for validating the direction of the IMU axes. When in this mode, CUVSLAM will continue to receive all information, but the translation component will be forcibly disabled. The expected behavior is that the rotation of the IMU (as part of a stereo camera) should have a similar direction in the real world as in the visualization system (rviz or Foxglove). Here are a few comments about IMU_fusion:

  1. This mode only works with a single stereo camera and is not applicable in multicamera mode.
  2. Visual odometry does not function if the IMU fusion mode is selected but no data is received.
  3. Issues with the delivery of IMU messages, such as dropped messages, can result in significant motion artifacts.
  4. For each specific device, the IMU must calibrate its noise parameters and specify them in the launch file. You can learn more about IMU noise calibration at IMU Noise Model · ethz-asl/kalibr Wiki · GitHub.
3

does one of the published topics offer the path without the odometry correction?

or what is the difference between the published path topics?

5

Hi @hermanndererdmann

The cuvslam library uses different solvers for visual odometry (stereo images only) and inertial visual odometry (stereo images + IMU measurements)

6

are these open source?

7

No, the cuVSLAM library is not open-source, but for commercial support and access to source code, please contact NVIDIA

8

Hi, can you provide more information about commercial support and how to get access to the source code?

9

Hi @zhang.baozhe2000

Welcome to the Isaac ROS forum. As I mentioned in my previous post, I suggest following the link above or: contact NVIDIA

10

Hi Raffaello,

That link seems to be a general newsletter, not a form to initiate discussion for accessing the source code. What contact would be a good start for this?