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RainerKuemmerle / g2o

g2o: A General Framework for Graph Optimization
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Sliding-window Incremental Optimization #261

Open tuemps opened 6 years ago

tuemps commented 6 years ago

Hi dev team,

We are planning to make a sliding-window version of the incremental optimizer. Basically, adding new measurements, like the incremental optimizer, but also removing measurements from the past. Before, we look into this further, we have some questions: 1) Is this maybe already supported? (we could not find it in the docs/code. 2) Any tips on how to achieve this? Currently, we run into difficulties when we remove nodes/vertices from the incremental optimizer.

Best regards, Gijs Dubbelman Mobile Perception Systems research cluster www.tue-mps.org Eindhoven University of Technology

YipuZhao commented 5 years ago

Same question as Dr. Dubbelman; is it possible to hack the current impl. so that incremental deletion is possible (without calling initial func.)? Appreciate any input on this :)