From 33c4e7e8e2c91b074dba0877300dc41daf9b2f35 Mon Sep 17 00:00:00 2001 From: gfuse Date: Tue, 20 Apr 2021 16:31:10 +0200 Subject: [PATCH] The best possible situation 20.4.2021 --- vio_svo/param/vo_fast.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/vio_svo/param/vo_fast.yaml b/vio_svo/param/vo_fast.yaml index 84e6549..e33b18a 100644 --- a/vio_svo/param/vo_fast.yaml +++ b/vio_svo/param/vo_fast.yaml @@ -4,10 +4,10 @@ svo: loba_num_iter: 0 #Number of iterations in the local bundle adjustment. quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad. quality_max_drop_fts: 60 #If within one frame, this amount of features are dropped. Tracking quality is bad. - ACC_noise: 0.0001 #acc white noise in continuous - GYO_noise: 0.0001 #gyro white noise in continuous + ACC_noise: 0.00001 #acc white noise in continuous + GYO_noise: 0.00001 #gyro white noise in continuous IUC: 0.1 #integration uncertainty continuous ABC: 0.1 #acc bias in continuous GBC: 0.1 #gyro bias in continuous - EBP: 0.01 #error in the bias used for preintegration + EBP: 0.1 #error in the bias used for preintegration NRP: 0.0000001 #noise used for projection in preintegration