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drift with rpi camera v2 and mpu9250 on jetson nano #436
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I am using a drive that i wrote and it just reads register via I2C protocol and publish with ROS2 well I couldnt manage to fix timestamp issue. i was trying to fix with software but i got the result i sent. so now i just read the register and publish with ros in my driver. here is my another calibration reports (driver just read imu) still has noises and bad timestamp and i dont know how to solve the issue. should i change my imu or driver? |
I tried to reduce my imu noises with getting avarege of 500hz data and publish them as 100hz and fix bad timestamp with software (but still couldnt get a straight line)
I didnt understand this part How should i investigate my IMU? |
hello i am trying openvins on jetson nano
camera: raspberry pi camera v2
imu: mpu9250
and the system:
I collected 3 hours imu data to calculate allan variance parameters. And here are parameters
And i handled camera and camera-imu calibration with kalibr here is the calibration results:
results.zip
I edited kalibr_imu_chain.yaml and kalibr_imucam_chain.yaml files with calibration values. Also i change some parameters in estimator_config.yaml file that i copied from euroc_mav/estimator_config.yaml. Here is my estimator_config.yaml file:
when i tried for the first time it drifted like in the photo so whenever i try with new calibrations nothing change.
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