Migrate to VINS-Fusion framework

[sunbingfeng]

Hi @shaozu

Thanks for your awesome work.

Right now, I was trying to migrate from VINS-Mono to VINS-Fusion framework in order to get stereo VIO support, and I encountered a weird problem that the ECEF anchor point didn't converge.

As the above figure shown, the green path is the RTK groundtruth, and the purple one is the VIO odometry path, while the red path is the fused path. We can see that the fused position jittered a lot because of the unstable ECEF anchor position.

If I set the ECEF anchor point as constant, the fused path will be smooth, but the accuracy is almost the same as VIO.

So I was wondering if you ever encounter this issue before.

Looking forward to your response.

Thanks.

[trayveet]

@sunbingfeng hi, any update on this?. Do you have a public repository?
Thanks