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linyicheng1 / A-ORB-SLAM2

Advanced ORB-SLAM2
MIT License
64 stars 14 forks source link

Scale drift and LoopClosing #4

Open Pepper-FlavoredChewingGum opened 1 year ago

Pepper-FlavoredChewingGum commented 1 year ago

Hi, thanks for your excellent work. After running this code, I found that the scale drift is somewhat serious, and it is difficult to detect the loopclosing. What is the reason? Sincerely look forward to your response.

linyicheng1 commented 1 year ago

The loopback function is disabled, and further information is needed on the scale drift. The goal of this code is currently to test the tracking performance of different matching algorithms.

Pepper-FlavoredChewingGum commented 1 year ago

Can you tell me how to open the loopclosing thread ? I can't find the corresponding switch, it seems that the loopclosing thread has also been started. At the same time, when I run the code on KITTI 00 sequence, the scale drift problem is serious. What is the reason? 20230327163738

linyicheng1 commented 1 year ago

You can try the original ORB-slam2, which will scale drift more when there is no loopback. If you want to add loopback may be a more difficult job and may be updated in a future version. If you wish to add it yourself, you can debug from the LoopClosing::Run() function to see if each function works.

lujunlin-HN commented 1 year ago

Hello author, is the current version with the loopback function ready? Looking forward to your work.