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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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Question about relocalization in tracking.cc #120

Closed xieqi1 closed 4 years ago

xieqi1 commented 4 years ago

Hi ! I notice the loop in line 3240, nCandidates is always 0, and the loop will not run. And I find in ORBSLAM2, nCandidates++ when detect a candidate frame via BOW.It seems it will always fail in relocalization, so is it a bug or you just drop the relocalization method? Thank you !

ankuPRK commented 4 years ago

I think they have replaced relocalization with submap merging i.e. every new sequence will start with a new sub-map, which will then be aligned and merged with the one of the submaps in the set of maps we already have, given it meets certain criteria.

xieqi1 commented 4 years ago

@ankuPRK Sure, I agree with your opinion.Thank you for your reply~

ankuPRK commented 4 years ago

welcome :)