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Welcome to the eqf_vio wiki!

For installation instructions, please visit this page.

If you have any trouble getting the code running, please check the existing issues or open a new one if your issue is not addressed.

Common Issues

The pose estimate begins to drifts and then flies off

This can be due to a lot of reasons, but the most common is that the 'outlierThreshold' parameter is set too low. This parameter deletes landmarks from the state when the feature tracking becomes too inconsistent with the expected motion of the robot. However, when the robot's motion exhibits a large error, this can cause the filter to delete all the features. After this, if the robot starts moving too quickly, then the filter will continue to delete features every time they are added, and the state cannot be recovered.