What are the differences between the 3 Generations for position tracking. What Is the recommended version for Indoor and Outdoor usage on a drone. Why does the GEN_2 only run at ~18 Hz on my Jetson Orin NX on a ZEDX using HD1080 and set to 30 FPS. Why do I notice that GEN_1 experiences significant jumps of a few meters during my outdoor tests?
Hi @Manx52
GEN_1 is the original visual odometry algorithm that we developed. It mostly uses visual and depth information, using the IMU only to improve the rotation estimations.
GEN_2 is the next generation, porting full IMU fusion, but it requires more processing than GEN_1.
GEN_3 is the current generation, lighter than GEN_2, but precise and reliable in every conditions. It’s still under improvement and we do not recommend using it in production yet. Versions of the ZED SDK newer than v5.1.0 will focus on stability and performance of GEN_3.