I have a question about loop closure. It seems that in VINS-Fusion, relocalization is only used for 4-DoF pose graph optimization and acts as a completely independent module than the VI odometry one. However, in VINS-Mono, it was used to constrain the optimization problem during the tracking.
Could you explain why you decided to remove this energy term from the optimization and how it affects the final results ?
Unlingius
commented
5 years ago
Hello, thank you for sharing this great work.
I have a question about loop closure. It seems that in VINS-Fusion, relocalization is only used for 4-DoF pose graph optimization and acts as a completely independent module than the VI odometry one. However, in VINS-Mono, it was used to constrain the optimization problem during the tracking.
Could you explain why you decided to remove this energy term from the optimization and how it affects the final results ?