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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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Use visual disparity to determine whether to add a frame into the sliding window? #257

Closed carolo44 closed 2 years ago

carolo44 commented 2 years ago

This function may improve the performance in the large-scale outdoor environment applications.

goldbattle commented 2 years ago

Dynamic cloning is a very interesting idea and there are a few works which have looked at it a bit. The main problem is how to handle feature processing when you don't have clone states. This isn't something we look to support in this repo, but feel free to fork and play with yourself!

carolo44 commented 2 years ago

Dynamic cloning is a very interesting idea and there are a few works which have looked at it a bit. The main problem is how to handle feature processing when you don't have clone states. This isn't something we look to support in this repo, but feel free to fork and play with yourself!

Here is my implementation. if the latest frame is considered as not having enough disparity with respect to its previous frame, then its feature points are simply dropped. Then the IMU measurements get propagated but no state gets cloned. Only key-frames get cloned. This Implementation handles the large-scale outdoor scenarios quite well so far(deployed on a fixed-wing drone).