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mpkuse / cerebro

Intelligent place recognition module for vins-fusion
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new branches of robust-pose-computation #18

Closed MoonUniverse closed 4 years ago

MoonUniverse commented 4 years ago

hello, Thanks for your great work again! Recently I noticed that you updated a new branch of robust-pose-computation,I am curious about it's use and some performance improvements.Do you have a simple description of this later?

thanks!

mpkuse commented 4 years ago

So, currently I am okish with the place recognition part, in the sense it can reasonably identify places. However the weak-spot is the pose computation part (after identifying loop candidates).

So, with this branch, I am moving to detection of loop-hypothesis-sequences rather than loop-candidate-pairs. See https://github.com/mpkuse/cerebro/blob/7a8df59c55937c04b9d13b0b546ccf2e8090f67f/src/Cerebro.cpp#L735 and src/HypothesisManager.h

And I am implementing pose computation from sequences, which potentially uses nearby frames for a more robust pose computation. https://github.com/mpkuse/cerebro/blob/7a8df59c55937c04b9d13b0b546ccf2e8090f67f/src/Cerebro.cpp#L1584

However, it is not complete yet. Keep tuned for my updates. Also will be happy if you develop something to this effect.

MoonUniverse commented 4 years ago

Thanks for your reply! I will keeping learning! thanks.