resolving Drift when using the code with D435i about open_vins HOT 7 OPEN

I recently just got my d435i to work following the same procedure. Perhaps post your calibration file, I can help double-check and see if anything is off.

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Are you planning to use single lens or stereo from the D435i? In your estimator_config.yaml is using 1 camera at the moment...

Everything else looks fine... double-check your IMU rate, I think D435i is output at 200 Hz not 400 Hz.

One last thing is maybe re-record your IMU Allan... your Allan variance report looks very noisey compared to mine. But your VIO calibration report looks a lot cleaner than mine, I'm wondering what was your calibration procedure like?

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report.zip -> kalibr related files

D435_VINS.zip -> config used for running openVINS with D435i

Another thing I forgot to add. I did calibration with small size april marker as I didn't have anything to print A0 size april marker pattern, can that affect ?

if possible can you also share your file ? unaccounted for manufacturing tolerance and IMU intrinsics[Bias rate] I believe same config could be used for any 435i device ?

Thank you very much for the help !

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I am indeed using the single colour sensor similar to d455.
I will try to do Allan Variance report again. I also added the 5x and 10x increase to this noise as suggested in YouTube video.

Only thing I did different in VIO compared to the original YouTube video is that I generated April tag with custom .yaml file so it can be used with A4 paper.

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I am indeed using the single colour sensor similar to d455. I will try to do Allan Variance report again. I also added the 5x and 10x increase to this noise as suggested in YouTube video.

Only thing I did different in VIO compared to the original YouTube video is that I generated April tag with custom .yaml file so it can be used with A4 paper.

I encountered the same problem as yours. How did you solve it? Thanks!

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Hi, there are quite a few past issues opened about the D435i, please make sure to take a look at those:
https://github.com/rpng/open_vins/issues?q=D435i

I believe a lot of people seem to have trouble with this sensor...

Could you post your Kalibr calibration PDF result file so we can see how the calibration looks? (both camera, and camera+IMU pdfs please!).

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@greenpeer unfortunately I could not test it out. I was held up with other priorities. For starters you could try Genozens suggestion.

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