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BEAMRobotics / beam_slam

Tightly coupled lidar-visual-inertial slam using the fuse framework
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Normalize reprojection constraints #163

Open jakemclaughlin6 opened 11 months ago

jakemclaughlin6 commented 11 months ago

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 constraint (relative pose)

  1. compute shannon entropy (H) from the pose covariance
  2. Divide H by # of features in the image to get H per reprojection constraint

May want to switch to dense_schur for the solver

jakemclaughlin6 commented 10 months ago

https://github.com/locusrobotics/fuse/blob/vision_constraints/fuse_constraints/include/fuse_constraints/fixed_3d_landmark_cost_functor.h#L183-L200