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hku-mars / btc_descriptor

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A question of the accuracy of transform #3

Open DoMoCo opened 7 months ago

DoMoCo commented 7 months ago

Great work!!!

When I tried to replicate this work, I found that I consistently failed to obtain an accurate transformation whenever loop closure was detected. I noticed that the influence of the reference planes is significant;

When I select one reference plane, the accuracy of plane fitting greatly affect the final transformation by P3P. Could it be that I misunderstood something here?

By the way, I test it outdoor.

nuo-1 commented 1 month ago

Great work!!!

When I tried to replicate this work, I found that I consistently failed to obtain an accurate transformation whenever loop closure was detected. I noticed that the influence of the reference planes is significant;

When I select one reference plane, the accuracy of plane fitting greatly affect the final transformation by P3P. Could it be that I misunderstood something here?

By the way, I test it outdoor.

Hi, I have also encountered similar problems. Do you have any discoveries, thanks.