Jake McLaughlin
Jake McLaughlin
Reprojection constraints can skew the optimization by a lot. The goal of this is to normalize each images reproejction constraints to be in line with what would be its odometry...
Online calibration causes odometry to fail pretty frequently. Steps to debug this: 1. log the calibrations on graph updates, identify if the calibration gets skewed a lot when odom gets...
Currently, matching against the current sliding window of features doesn't result in many matches. This could be because we are using the SSC detector or because we aren't detecting enough...
The current visual path init produces a path in a bad frame and the gravity estimate is wrong as a result
Use this: https://github.com/dzunigan/imu_initialization To estimate accel bias
1. Better “lost” detection and restarting of the front end 2. Visual place recognition in global mapping 3. Map merging in global mapping 1. When the front end gets lost...