IMU initialization at high velocity

[tigerschweiger]

When i ran the ORBSLAM3 in a city-center scenario, it occured the following problems:

Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1
mnInitialFrameId = 4913
0 Frames set to lost
not IMU meas
First KF:1269; Map init KF:1268
New Map created with 112 points

I guess the system crashed and need to reset, but at that moment the car ran at a high velocity so the IMU had not enough acceleration that it could not be successfully initialized. Were there any solutions to solve this problem?