Open rikpires opened 6 years ago
Have you already solved the problem,I also want to combine point and line together in VSLAM
Also wonder how this could be done
Leaving this here for future reference. Found this when I was looking into object detection in VSLAM pipelines
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.