Loop closure - Githubissues

ucla-vision / xivo

X Inertial-aided Visual Odometry

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Loop closure #33

Closed stephanietsuei closed 2 years ago

stephanietsuei commented 2 years ago

Implement loop closure and test on the six room sequences of TUM VI dataset. Performance (ATE and RPE) should improve beyond what's listed here.

Steps in this issue:

A feature that prints out GraphViz (or similar) files of groups in the map.
Use DBoW2 library with both BRIEF and ORB descriptors to search for matches.
Validation of matches using RANSAC
Additional measurement update in the Estimator

Loop closures will happen in a background thread alongside pose graph optimization (see issue #3)

stephanietsuei commented 2 years ago

Implemented in #34.