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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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Probability Distribution of the pose #713

Open Alaa-Maghrabi opened 5 years ago

Alaa-Maghrabi commented 5 years ago

Hi,

I'm working on this project which relies on ORB slam. I've been researching if your code can directly give us the probability distribution (or covariance matrix) of the pose estimation, I couldn't find anything.

I know that it relies on bundle adjustment to optimize the camera position through minimizing the reprojection error. Is this the only way to get some kind of probabilistic distribution of the estimation?

Thanks a lot

songming1995 commented 3 years ago

I am not sure if we can use the inverse of Hessian matrix to approximate the Covariance of pose.