marginization is too time consuming

HKUST-Aerial-Robotics / VINS-Mobile

Monocular Visual-Inertial State Estimator on Mobile Phones

GNU General Public License v3.0

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marginization is too time consuming #85

Open ismymajia opened 7 years ago

ismymajia commented 7 years ago

Marginization is too time consuming. Hope to get your optimization suggestions.

shengxingdong commented 7 years ago

I got the same problem when I try to port VINS to android. the function "marginalization_info->marginalize()" cost above 500 ms on Snapdragon 820. while according to the paper, it takes only 60 ms on iPhone 7 Plus. So what's the reason or any acceleration suggestion ?

qintonguav commented 7 years ago

It depends on the number of features. Marginalize fewer features will accelerate this procedure.