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Fix IMU fallback pose extrapolation state #311

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Merged
koide3 merged 1 commit into from
Jul 7, 2026
+3 −2
Merged

Fix IMU fallback pose extrapolation state #311

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5 changes: 3 additions & 2 deletions src/glim/odometry/odometry_estimation_imu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -237,15 +237,16 @@ EstimationFrame::ConstPtr OdometryEstimationIMU::insert_frame(const Preprocessed
logger->trace("num_imu_integrated={}", num_imu_integrated);

// IMU state prediction
const gtsam::NavState predicted_nav_world_imu = imu_integration->integrated_measurements().predict(last_nav_world_imu, last_imu_bias);
gtsam::NavState predicted_nav_world_imu = imu_integration->integrated_measurements().predict(last_nav_world_imu, last_imu_bias);
gtsam::Pose3 predicted_T_world_imu = predicted_nav_world_imu.pose();
gtsam::Vector3 predicted_v_world_imu = predicted_nav_world_imu.velocity();

// Overwrite the predicted state with the last states if no IMU data is available
if (num_imu_integrated < 2 && last > 1) {
const Eigen::Isometry3d T_delta = frames[last - 1]->T_lidar_imu.inverse() * frames[last]->T_lidar_imu;
const Eigen::Isometry3d T_delta = frames[last - 1]->T_world_imu.inverse() * frames[last]->T_world_imu;
predicted_T_world_imu = gtsam::Pose3((frames[last]->T_world_imu * T_delta).matrix());
predicted_v_world_imu = frames[last]->v_world_imu;
predicted_nav_world_imu = gtsam::NavState(predicted_T_world_imu, predicted_v_world_imu);
}

new_stamps[X(current)] = raw_frame->stamp;
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