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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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Question about the parameters #35

Closed DrZ-21 closed 1 year ago

DrZ-21 commented 1 year ago

Dear sir, Thanks for the excellent work! i have a question about the parameters "-maxVisualUpdates" and "-maxSuccessfulVisualUpdates",their default value are both 20.When i set them both to 30,the mono vio can also run in realtime in euroc, but the result seems to be the same as the 20's.Is that right?But I think that the more visual updates are done,the better result that we should get. Thanks again!

oseiskar commented 1 year ago

Not unexpected. Diminishing returns and random variation.

DrZ-21 commented 1 year ago

Excuse me,sir.What does "Diminishing returns" mean?

oseiskar commented 1 year ago

It means that when you increase some parameter from 5 to 10, the effect is significant, when you increase it from 10 to 20 the positive effect is smaller but noticeable, and when you increase from 20 to 30 or beyond, the positive effect is so small that it gets lost in the random noise. This is a common pheonomenon in many contexts.

DrZ-21 commented 1 year ago

I got it and thank you!