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HKUST-Aerial-Robotics / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator
GNU General Public License v3.0
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Can I use this software for indoor navigation #371

Open ghost opened 3 years ago

ghost commented 3 years ago

Hi,

First of all, thank you for sharing this repo. It has excellent performance.

I am planning to use this SLAM method for indoor race. The environment is like this https://www.youtube.com/watch?v=4B2ipB7n5Nk&t=96s. I have the questions:

  1. However, there are a lot of people in the room and they may move around. I am wondering if VINS will work well in this situation.
  2. SLAM algorithm can generate a map. But how can I use the pre-generated map for localization?

Thanks,

DiliniPasqual commented 2 years ago

Hi, I also want to know if it's possible to VINS in a dynamic environment with a majority of dynamic objects. Did you try using it in a dynamic environment?