About the parameters of the algorithm？

[zhongxiangrong]

What are the meanings represented by each parameter in the configs_euroc.yaml file? I have found that in some scenarios, although line features increase robustness, they also improve translation errors. I guess it's the linear merge parameter that affects the results. I am trying to modify the parameters in the hope of achieving better results. But most of the parameters are not explained.

[xukuanHIT]

@zhongxiangrong Hi, some parameter explanations can be found here. it's true that LSD is not robust enough and needs to be carefully tuned. A new version with better line detection, loop detection and map reuse will be released soon.

[zhongxiangrong]

thanks！keyframe: max_angle: 0.5 。What is the unit of this parameter?

[zhongxiangrong]

When is the new version expected to be released? Have you considered using an IMU sensor?

[zhongxiangrong]

What's more, What is the unit of parameter "line_detector: angle_thr,distance_thr, ep_thr"?In addition, it seems that these three parameters are not used in the code, but have been determined.

[xukuanHIT]

thanks！keyframe: max_angle: 0.5 。What is the unit of this parameter?

radian

[xukuanHIT]

When is the new version expected to be released? Have you considered using an IMU sensor?

may be 3-6 months later. IMU sensor will be supported.

[xukuanHIT]

What's more, What is the unit of parameter "line_detector: angle_thr,distance_thr, ep_thr"?In addition, it seems that these three parameters are not used in the code, but have been determined.

radian and pixel. Yes, I give specific parameters directly in the source code.

[zhongxiangrong]

I found from the keyframe txt file output by the algorithm that the initial position is (0,0,1), why not (0,0,0)?

[xukuanHIT]

Just for visualization. The initial pose can be set here.