Choose between GTSAM iSAM2 optimization vs Ceres based sliding window optimization

ami-iit / kindyn-vio

Development on hold.

BSD 3-Clause "New" or "Revised" License

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Closed prashanthr05 closed 2 years ago

prashanthr05 commented 3 years ago

Note that GTSAM uses (w ,v) convention for twists/vectors associated with pose covariances.

prashanthr05 commented 2 years ago

We chose to proceed with GTSAM's iSAM2 based Incremental Fixed Lag Smoother.