Does DM-VIO have the function of saving and loading maps and positioning in existing maps？

lukasvst / dm-vio

Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry

GNU General Public License v3.0

1.05k stars 184 forks source link

Does DM-VIO have the function of saving and loading maps and positioning in existing maps？ #25

Closed JACKLiuDay closed 2 years ago

JACKLiuDay commented 2 years ago

Hi, thank you for your great work about DM-VIO. I have a project for my robot. And I need to localize the robot in my campus. I think the localization will be more stable if we have a pre built map and we just need to localize in the map. So, dose dm-vio support this function?

lukasvst commented 2 years ago

Currently, DM-VIO is a pure odometry system, meaning that it does not perform loop-closure nor can it load a prebuilt map.