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lturing / ORB_SLAM3_modified

安卓手机适配orb slam3，运行mono-inertial
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What is this repository? #8

Closed jeremysalwen closed 3 months ago

jeremysalwen commented 4 months ago

Hello, I am working on developing an active community supported version of ORB_SLAM at https://github.com/jeremysalwen/ORB_SLAM_COMMUNITY.

I noticed this repository, as well as a couple of other forks of ORB_SLAM on your profile. I am wondering what the status is. I am not Chinese speaker, so i am having difficulty reading the documentation. Are these forks bugfixes? Improvements? Or taking the project in a different direction?

Thank you, Jeremy

lturing commented 4 months ago

just taking the project in a different direction

jeremysalwen commented 4 months ago

Does the fast IMU initialization work better than the original? Or does it not make much of a difference?

slmMuc2fly commented 4 months ago

This is for me so confusing simple words and so different at the same time

lturing commented 4 months ago

the fast IMU initialization in ORB_SLAM3_FAST_IMU_INIT is empirical, lack of theory. i test it on euroc stereo-imu dataset, the result is similar to the original orbslam3 in stereo inertial mode, while the imu initialization time decrease significantly.
for better imu initialization method, i recommend drt-vio-init and Stereo-NEC, which use Normal Epipolar Constraints to solve bg and so on

lturing commented 4 months ago

the repository is just my some ideas and application on orbslam3 when i study slam and orbslam, it lack mature.
thanks for your concern.

slmMuc2fly commented 4 months ago

Hey!! Thanks for responding back I really appreciate it and I was completely to different direction