Height estimation

Hardware ZED Mini
1

Hey,
while x,y, positional tracking from 5 m distance seems ok, the z estimation is wrong, but it gets better from closer range, what might be the problem?

2

Hi Ori,
Thanks for your message.
A few questions regarding your issue :

  • Can you please run ZED_Diagnostic_Tool and send the resulting JSON file? This will allow us to know more information about your system.
  • In the case of a GMSL camera, please use ‘sudo ZED_Diagnostic_Tool --dmesg’.
  • Are you using a specific sample to do your test ?
  • What Positional Tracking parameters are you using ? (mode Gen1 or Gen2, imu_fusion…).

Best,
Rodolphe Perrin

Stereolabs Support

Stereolabs Support

3

ZED_Diagnostic_Results.json (11.1 KB)
common_stereo.yaml (17.6 KB)
zedm.yaml (495 Bytes)

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4

Thank you for the files.

From what I’m seeing, you’re using Gen_1 as parameter for positional tracking.
My recommendation for this would be to try the same tests with Gen_2 instead ( try with and without imu fusion to see in your case if you see better results).
With Gen_2, the drift should be smaller. It performs even better with loop closures ( drift is corrected as the tracked camera sees visual features it has previously collected).

Best,
Rodolphe Perrin

Stereolabs Support