I am researching on the implementation of the Essential Graph / Pose Graph that chains critical Keyframes with their relative transformation in ORB SLAM3. My goal is to expose this graph into the ROS graph for additional operation from other packages.
Hence I wanted to start a discussion with the eventual goal of writing up some technical features of this data structure, optimization algorithm used and exact implementation in ORB SLAM3. To this end I have the following questions / seeking suggestions
Resources that explains a Pose graph, Essential Graph data structure.
In ORB SLAM3, where exactly is the Essential Graph maintained and is there a function we can call to check if a new node has been added into the Essential Graph?
Dear Community,
I am researching on the implementation of the
Essential Graph/Pose Graphthat chains critical Keyframes with their relative transformation in ORB SLAM3. My goal is to expose this graph into the ROS graph for additional operation from other packages.Hence I wanted to start a discussion with the eventual goal of writing up some technical features of this data structure, optimization algorithm used and exact implementation in ORB SLAM3. To this end I have the following questions / seeking suggestions
Pose graph,Essential Graphdata structure.Thank you for your time.