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baidu / ICE-BA

Apache License 2.0
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support mono and back-end only mode #16

Closed wangjio closed 5 years ago

wangjio commented 5 years ago

This PR addressed the following enhancement

  1. Improve accuracy of stereo mode. RMSE on ASL-EuRoC dataset: sequence          [last version RMSE]     [new version RMSE] MH_01_easy             0.099980                    0.046637 MH_02_easy             0.089298                    0.039295 MH_03_medium       0.110155                      0.107909 MH_04_difficult        0.194320                     0.171834 MH_05_difficult        0.273763                     0.165437 V1_01_easy               0.054851                     0.058345 V1_02_medium         0.076307                     0.086645 V1_03_difficult          0.117221                       0.135066 V2_01_easy               0.085170                      0.094865 V2_02_medium         0.115820                      0.100271 V2_03_difficult          0.168683                     0.131428 avg                             0.125961                      0.103430

    1. Support monocular mode. RMSE on ASL-EuRoC dataset: sequence          [new version RMSE] MH_01_easy             0.162195 MH_02_easy             0.086467 MH_03_medium       0.091214 MH_04_difficult        0.375978 MH_05_difficult        0.211403 V1_01_easy               0.074656 V1_02_medium         0.137637 V1_03_difficult          0.111217 V2_01_easy               0.110070 V2_02_medium         0.098250 V2_03_difficult          0.120247 avg                             0.143576

  2. Support keyframe deletion and mappoint deletion.

  3. Support back-end only mode. Front-end results can be saved into files. Back-end only mode loads these files and runs backend only.

CLAassistant commented 5 years ago

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