Highlight Clark

When IMU is on, estimation is even worse than pure visual mode?

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Thanks for your sharing at first. As you may know, in EuRoC **V102** dataset, there are continuous rotational motions in the middle part, which I think could pose great challenges...

Why is LoopClosure off in IMU mode?

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As is shown in LoopClosing.cc, Loop Detection is off in IMU mode. Does any one notice this and understand why? ```while (1) { // Check if there are keyframes in...

Is it possible to replace g2o with ceres as the backend and will it be faster or have better accuracy?

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I notice that there are some jobs taking ceres as the backend optimization framework, such as OKVIS and HKUST-Mono. Here in ORBSLAM2, g2o is used. I have always wondered between...

dataset can not download

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http://www2.ipf.kit.edu/~pcv2016/downloads/indoor_dynamic.zip

So, where can I find the ROS version of M-VINS?

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As you have said in your iros 2017 paper, you've opensource your code, but in your M-VINS git homepage, there are only experiment results, rather than ROS packages. Could you...

In double2vector(), why do you only use yaw_diff to update states?

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From my understanding, in Estimator::optimization(), you update states(Rs, Ps, Vs, Bas, Bgs) after a round of optimization using Estimator::double2vector(). And there in double2vector(), you update states Ps, Vs and Rs...

Memory leak caused by MapPoint and KeyFrame erase.

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When erasing a MapPoint pointer or a KeyFrame pointer from the Map, the code just delete the pointer of queue, and no memory releasing operation is performed. This is a...

In EuRoC V101 dataset, the estimated trajectory has a big error!

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Hi, I use the default pinhole.yaml config file and test V101 dataset with my machine Intel® Core™ i5-4570 CPU @ 3.20GHz × 4 . Sometimes the estimator runs through to...

Thanks for your sharing! I customize below three config files for EuRoC V102 dataset, and test your binary: **The launch file:**  **The calib file:**  **The param file:** ...