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haochihlin / Ardrone_indoor_slam

Including all required files to reproduce lsd-slam based ardrone indoor navigation
https://youtu.be/r9LegSK6MfU
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Why use least square method? #5

Closed sammyjan closed 5 years ago

sammyjan commented 5 years ago

Hello, this is a great job! Now I am learning SLAM and I am a mere beginner.I want to know why you use least square method while many people are using Kalman filter method to obtain the real scale.

haochihlin commented 5 years ago

Hi Thank you for being interested in this progect. About the least square methods, well, because this demo was done almost 4 years ago. At that time, there were various fusion algorithms for scale estimation. In fact, the latter developing of this project was based on MSF_EKF (Error State KF) and got better results.

BTW, if you have any further questions, could you please change to following repo: https://github.com/Hypha-ROS/hypharos_ardrone_navigation Since this repo are not maintained anymore.

HaoChih, Lin

sammyjan commented 5 years ago

@haochihlin Thank you!