Tables of mean, RMSE, median and standard deviations might not be the most useful analysis tool when the error distribution is not known. Graphs of the distribution shapes might be more informative.

There seems to be some variation occurring in running ORBSLAM3 with similar arguments. Let’s see what the noise is.

Recently, ORB SLAM3 came out. I will focus on an ablation study of this system. But first, reproduce the published results.

The canonical implementation of ORB-SLAM2 by Raúl Mur-Artal seems to perform better than the (non-visual-inertial) binaries generated by the code of Jing Wang. I’m looking into why, so Wang’s code can be improved, and perhaps some bugs for the stereo case may be squashed.

To do this, I had to learn about the ROS message_filters and rosbag APIs.

I’ve made some decisions in approach, listing them here with motivation:

I’ve been looking for already existing implementations of a visual-inertial ORB-SLAM or ORB-SLAM2. So far, I haven’t found anything yet.

Yesterday I reported that only after many frames ORB-SLAM2 started tracking in SLAMBench. Today I performed some tests.

Today I’m trying to get SLAMBench 3 to work. It needed some modifications.

Earlier I tried to work with Wind River Linux on the UDOO. Not sure if it’s going to work, but RTAI seems like a reliable option.

Today I’m trying to compile wrlinux with --dl-layers. Again, errors occur.

I have downloaded Wind River Linux 10.19.BASE, and generated an image for the UDOO. Results are recorded in pkok/udoo-wrlinux

During the latest thesis coaching session, Toto suggested using an RTOS to synchronize the external devices (and thus their clock signals).

As we have previously seen, throughput is essential. One major factor in throughput is how data is serialized. With the experiments in this post, I motivate my choice for capnproto in this project.

After speaking with Arnoud, I’m restarting again. Focus for today: thesis outline, and getting the requirements for the dataset on paper.

How do I synchronize signals with timestamps from 3 different clocks?

To store the collected data without hickups, a small systems needs to be designed.

Both sensors report to be „synchronized”, but do not report which data streams are all synchronized. This is an initial check to see how well-synchronized both sensors are.

Installed the drivers for the Structure Core, and the complete device works directly.

No problems* with the D435i anymore.