Motion-Only VI Optimization

HKUST-Aerial-Robotics / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator

GNU General Public License v3.0

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Motion-Only VI Optimization #312

Open jmorlana opened 4 years ago

jmorlana commented 4 years ago

I have been looking for the motion-only optimization for camera-rate state estimation they mentioned in the paper, but I couldn't find it. Anyone knows if it is in the code and where is it?

As I understood, there is a front-end (feature tracker node) which tracks corners with KLT, and sends these features to the back-end (estimator node) which optimizes the full state vector in the sliding window. They work at 10 Hz

IzzyCoder commented 3 years ago

I'm actually would be very much happy too to get an answer to this question. Thanks in advance!