Requirements on the 3D-map for later use in online localization

surberj / Vision

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Closed surberj closed 8 years ago

surberj commented 8 years ago

surberj commented 8 years ago

I work now with the following map:

3D points of OKVIS with a good quality, saved with their BRISK descriptor.
refLat, refLon and refAlt and refOrientation of the map (which we get out of alignment of the OKVIS trajectory and GPS)