DM-VIO vs VINS-Mono on KAIST VIO Dataset

Описание: VINS-Mono consumes ~230% CPU on i9-10900K
DM-VIO consumes ~180% CPU on i9-10900K during normal states.
DM-VIO consumes ~250% CPU on i9-10900K during initialization.
VINS-Mono is much affected by stable initialization but shows great performance though.
DM-VIO is much more affected by initialization than VINS-Mono. Even it easily fails to be initialized. And the estimated scale changes continuously so that the real-time visualization in RViz is somewhat wrong.

Setting and more info: https://github.com/engcang/vins-appli...

VINS-Mono: https://github.com/HKUST-Aerial-Robot...
DM-VIO: https://github.com/lukasvst/dm-vio-ros

0:00 DM-VIO Infinity
1:32 Circle
4:25 Square-fast
7:10 Infinity-fast
10:26 Infinity-head