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fixstars / cuda-bundle-adjustment

A CUDA implementation of Bundle Adjustment
Apache License 2.0
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Support for ORB_SLAM3? #11

Open TriceHelix opened 3 years ago

TriceHelix commented 3 years ago

As far as I'm aware CUBA can still be used for some of the ORB_SLAM3 optimization functions, however a big part of the new version is the combination of IMU measurements with mono/stereo tracking. In optimization, instead of the Mono and Stereo edges which are supported by this repo, there are now also Inertial edges which connect 6 vertices, aswell as some variations of that. I'm not entirely sure how it all works but I'm curious if there are any plans to support that in this repo, or if not, how one would implement the functionality for themselves.

vitalemonate commented 3 years ago

I have the same idea

bopeng1234 commented 3 years ago

@atakagi-fixstars , any comments on this

atakagi-fixstars commented 2 years ago

Hi everyone.

I checked the new verticies and edges which are added in the ORB_SLAM3. And I got a rough idea of how to implement the optimization.

I don't know when it will be completed, but I want to challenge.

Regards,

vitalemonate commented 2 years ago

Hi everyone.

I checked the new verticies and edges which are added in the ORB_SLAM3. And I got a rough idea of how to implement the optimization.

I don't know when it will be completed, but I want to challenge.

Regards,

Looking forward to your work!