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VladimirYugay / Gaussian-SLAM

Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting
https://vladimiryugay.github.io/gaussian_slam
MIT License
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Determine when to start new submap #33

Closed EmeryLee97 closed 1 month ago

EmeryLee97 commented 1 month ago

Hi, thanks for the great work! I notice in exceeds_motion_thresholds, you used Euler angles instead of angle axis to decide whether a new submap should be initialized. Could you please explain why you made this choice?

VladimirYugay commented 1 month ago

Hey there, thanks for your interest in our work.

We felt that this is more natural to do so - large motion covered ~ start new submap. We didn't ablate on that though. I also assume that both of those options could work similarly.