How hard is to do loop closure in this repo?

KumarRobotics / msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

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How hard is to do loop closure in this repo? #126

Closed brunopinto900 closed 2 years ago

brunopinto900 commented 2 years ago

Hello,

How hard is to perform loop closure & non-linear optimization with this repo? I am trying to use this filter-based VIO into a full Visual SLAM. How feasible is this?

Thank you.

versatran01 commented 2 years ago

It is difficult if you are trying to modify it into a full-fledged slam system. However you can always just use the output of vio to build your slam graph.

brunopinto900 commented 2 years ago

Thanks for your input.