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Giannis-Alamanos / ORB-LINE-SLAM

ORB-LINE-SLAM: An Open-Source Stereo Visual SLAM System with Point and Line Features
GNU General Public License v3.0
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Line weight in optimize？ #2

Open fightmoney opened 2 years ago

fightmoney commented 2 years ago

why the weight is the number？Its some paper show？

// Threshold so as to lower the weight of Lines according to the Number of the initial ORB Edges
     const int thr = 50;
     const int power = initialorbedges[pKF->mnId]/thr;
     const float Weight = pow(2.0,-power);
     const float thHuberLine = sqrt(Weight*7.815);
Giannis-Alamanos commented 2 years ago

The parameter of weight affects the participation of the lines in the algorithm. A paper is ready and I’m going to upload it in the next week(s).

fightmoney commented 2 years ago

@Giannis-Alamanos Can you give me a link to your paper ? Thanks!