Implements loop closure using BRIEF descriptors, a bag-of-words library, PnP RANSAC, and an extra EKF measurement update.
@agrawalparth10, I don't expect you to look through and understand all the code in this pull request. Just make sure you can compile and run the code. If you run the Python benchmarks scripts/run_and_eval_pyxivo.py, you'll see that we get improvement on some, but not all, of the TUM VI room sequences.
Implements loop closure using BRIEF descriptors, a bag-of-words library, PnP RANSAC, and an extra EKF measurement update.
@agrawalparth10, I don't expect you to look through and understand all the code in this pull request. Just make sure you can compile and run the code. If you run the Python benchmarks
scripts/run_and_eval_pyxivo.py, you'll see that we get improvement on some, but not all, of the TUM VI room sequences.