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Hi moody,

there are three major problem sources:

1) Frame rate: viso2 works better with high framerates or small displacements. It was originally designed for a forward looking camera.

2) Computation time: check that the computer where the node is running is not 100% busy.

3) Texture/Illumination conditions: not only the disparity image has to be good, but also the texture in order to extract good features.

In a nutshell, it is a visual odometer and it will drift over time. It is better that you fuse it with other sensors than using it alone.