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SpectacularAI / HybVIO

HybVIO visual-inertial odometry and SLAM system
https://arxiv.org/abs/2106.11857
GNU General Public License v3.0
450 stars 92 forks source link

vio modules or slam modules. which matters? #16

Closed wolf943134497 closed 2 years ago

wolf943134497 commented 2 years ago

Hi @oseiskar Thanks for your great works!

Your algorithm outperform the current state-of-the-art. Have you test other VIO + slam modules, like MSCKF vins-mono etc. I would like to know which one is important vio modules or slam modules?

oseiskar commented 2 years ago

We have not tested other VIO + SLAM module combinations in this codebase. They do not have common APIs so testing each combination would require a rather significant amount of software development.