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baidu / ICE-BA

Apache License 2.0
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Is loop closure supported? If so, how to turn loop closure on? #6

Closed highlightz closed 6 years ago

liuhaomin commented 6 years ago

Yes, ICE-BA supports loop closure by Solver::PushRelativeConstraint. In our experiments, we extract ORB features for each keyframe, estimate the relative pose from feature matches between keyframes at the loop, and push the relative constraint to ICE-BA. Unfortuanately it is not included in this repo. We just provide a simple optic flow based frontend. You need to impelment the loop detection and relative pose estimation to enable loop closure. Sorry for that...

highlightz commented 6 years ago

Got it, thank you.

wangjio commented 6 years ago

The question has been solved.