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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
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Visual inertial ekf slam #28

Closed poudyalbot closed 2 years ago

poudyalbot commented 2 years ago

Res sir, Can hybvio perform classical tightly coupled visual inertial ekf slam discarding msckf type update and improvisation described in paper. Thank you

oseiskar commented 2 years ago

Hello. EKF-SLAM without any MSCKF pose trail is not supported in this codebase. However, it is possible to do hybrid-EKF-SLAM (i.e., EKF state that consists of both 3D map point and MSKCF-style poses) by modifying the hybridMapSize parameter.