Can 3D line and 3D point be involved simultaneously in SBA?

RainerKuemmerle / g2o

g2o: A General Framework for Graph Optimization

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Can 3D line and 3D point be involved simultaneously in SBA? #225

Open rikpires opened 6 years ago

rikpires commented 6 years ago

I try to implement a point and line slam. It works fine in pose only estimation step. In the SBA step, I find I don't know how to involve 3D line and 3D point simultaneously. Because point landmark has a dimension of 3 while a line has a dimension of 6, I cannot use BlockSolver_6_3 directly. Is it possible to do this in g2o? Thanks.

ananhan commented 6 years ago

Have you already solved the problem,I also want to combine point and line together in VSLAM

decster commented 6 years ago

Also wonder how this could be done

Mechazo11 commented 6 months ago

Leaving this here for future reference. Found this when I was looking into object detection in VSLAM pipelines

point-plane-object-slam