The issue of trajectory deviation occurs when running TUM-4Seasons #212
Description
Thank you for your work. I am currently comparing your work with my project. In both Euroc and UMA-VI, your work accuracy is excellent. However, when I tried to run the parking garage sequence in TUM-4Seasons on AirSLAM, the trajectory was initially accurate, but there was a clear deviation afterwards. I am not sure if there is a problem with the configuration file I used, as my framework is based on orbslam3, which can run in my project, but there was a Cholesky failure in AirSLAM, writing debug.txt (Hessian loadable by Octave)
As shown in the figure, when circling around a parking lot, the first two laps can be tracked normally, but the direction deviates afterwards, resulting in a significant deviation and causing the final starting point to be unable to close the loop with the endpoint