what is the difference between Kidnap Recovery and visual localization in maplab's rovioli?

mpkuse / cerebro

Intelligent place recognition module for vins-fusion

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what is the difference between Kidnap Recovery and visual localization in maplab's rovioli? #22

Open robot-mh opened 4 years ago

robot-mh commented 4 years ago

let me say, visual global localization evey 1 second initiatively through DBOW2 or vocabulary tree，or NetVLAD. And then fusion global localization pose with Vio through EKF or vins-fusion. this can also always know global localization enven at kidnap.