jzhuai0108 / okvis Goto Github PK
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OKVIS: Open Keyframe-based Visual-Inertial SLAM.
License: Other
This project forked from ethz-asl/okvis
OKVIS: Open Keyframe-based Visual-Inertial SLAM.
License: Other
作者你好,看到你的代码中对预积分进行了修改
,
不过我在自己的代码中进行了精度验证,没有正向效果。
还有想问一下有没有吃过CPI的形式:https://github.com/rpng/cpi。
祝好
你好。最近看到你的okvis的项目修改代码,很有兴趣希望能够交流一下, 想请教一下几个问题:
1)你的代码现在逆深度的版本相比原始的okvis精度相差有多少,众所周知逆深度版本速度比较快,但是相比3D map形式优化的点精度可能也会有问题;
2)你的代码有数据集能够直接跑起来吗;
3)看了你预积分的修改,应该是简化了,我个人觉得原始是没有问题的,所以想知道这块修改带来的优势;
4)你的代码中有简化雅可比的形式,也想请问一下这块的优势;
5)看到你的代码中有加入重力方向进行优化,这块我之前也验证过,如果初始化的手已经进行重力方向的估计,优化过程中重力估计相差并不会很大,类似于vins-fusion,想请教这块在你的实际使用中差别如何;
6)我看你的项目中回环也进行了修改,不过我没有重点看,也顺便问一下这块的优势。
祝好
Hi:
In IMUError.cpp, const double sigma2_p = 0.5 * dt * dt * sigma2_v;
is const double sigma2_p = 0.25 * dt * dt * sigma2_v?
Thank you
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