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ethz-asl / maplab

A Modular and Multi-Modal Mapping Framework
https://maplab.asl.ethz.ch
Apache License 2.0
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Use maptracking #175

Closed wangyuanbiubiubiu closed 4 years ago

wangyuanbiubiubiu commented 5 years ago

I found out that maplab didn't do a maptracking relocation, I did one. Break it down into three steps. Step 1: use uniform motion model to project the map points to the current frame, and then conduct description sub-matching. PNP solution. Step 2: if unsuccessful, select adjacent frames for word bag search and conduct a small range of relocation. Step 3: if not, return to Global mode for PNP. Is that your thinking?

One more question, does the current maplab code support reconstruction with an external depth map?

bohell commented 4 years ago

I am quite interested in your work. How's the result? Is it reliable?

wangyuanbiubiubiu commented 4 years ago

I am quite interested in your work. How's the result? Is it reliable?

Yes, it is reliable. This method has significantly increased recall rates