Visual Odometry in fuse?

locusrobotics / fuse

The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.

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Visual Odometry in fuse? #371

Open jeremysalwen opened 5 months ago

jeremysalwen commented 5 months ago

Is fuse appropriate for doing visual odometry inside the framework? i.e. having fuse optimize the matched keypoints directly? Or is it expected that you will be doing the matching externally and just sending the transformation + covariance to fuse in order to fuse it?

If so, are there examples of such use cases?

vinnnyr commented 4 months ago

It appears that this PR https://github.com/locusrobotics/fuse/pull/352 addresses adding somethings that might be needed for performing matching inside the package