SLAM Configuration¶
Optimize SLAM performance for your environment and vehicle.
Configuration File¶
Located at ~/.config/aqua/slam.yaml:
slam:
backend: orb_slam3
mode: stereo # or mono, rgbd
features:
type: ORB
num_features: 1000
scale_factor: 1.2
num_levels: 8
tracking:
min_features: 50
ransac_threshold: 2.0
mapping:
keyframe_distance_threshold: 0.5
keyframe_angle_threshold: 10.0
loop_closure:
enabled: true
vocabulary: ORBvoc.txt
min_score: 0.7
Tuning Guidelines¶
For Clear Water¶
- Increase num_features: 1500
- Lower keyframe thresholds
For Murky Water¶
- Decrease num_features: 500
- Increase ransac_threshold: 3.0
- More aggressive keyframe creation
For Fast Motion¶
- Increase keyframe rate
- Enable IMU pre-integration
- Consider DVL