Some questions of the research

HKUST-Aerial-Robotics / GVINS

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.

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Some questions of the research #17

Closed LiShaoqian0609 closed 2 years ago

LiShaoqian0609 commented 3 years ago

Hello,

Thank you for your great research! I would like to ask that are you considering of conducting a ultra-tightly coupled GNSS-Visual-Inertial system? From my point of view, the ultra-tightly couple GNSS-Inertial system is quite mature. What do you think are the difficulties of the conducting a ultra-tight couple in GNSS-Visual system?

Best,

Shaoqian

shaozu commented 3 years ago

Hi, @LiShaoqian0609. Thanks for your interest. In the near future we have no plan on the ultra-tightly coupled GNSS fusion system. However, it is a good direction as the information from visual and inertial sensors will undoubtedly improve the GNSS signal tracking and measurement quality. At this stage I'm afraid that I cannot foresee the difficulties in such systems since I never tried the ultra-tight method.