A small VIO system using raspberry pi and arducam ov9281

ArduCopter
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63

I heard that time synchronization is extremely critical for VIO systems.

Yes, but it is not really easy to archive it.
In my experience. you at least need to

  1. stable IMU sampling rate
  2. accurate timestamp for both IMU and camera

do you think switching to a global shutter camera like the OV9281 would significantly improve VIO performance

Yes, I would strongly recommand use a global shutter camera

64

thank you,

I’m using ros2, and there has been issues with ros2_version of ego_planner. GitHub - ZJU-FAST-Lab/ego-planner-swarm at ros2_version
I have created an issue Issue with using planner on real drone · Issue #82 · ZJU-FAST-Lab/ego-planner-swarm · GitHub , but no one seems to be active.
Could you please review and let me know where I’m going wrong?
The launch file is setup exactly like yours ros1 version ego-planner/src/planner/plan_manage/launch/vins.launch at pi4 · chobitsfan/ego-planner · GitHub.
Is the planner an open-loop system, expecting that the drone will follow the velocity command?

65

Hello, i have the same issue. Have you figured it out?