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xdspacelab / openvslam

OpenVSLAM: A Versatile Visual SLAM Framework
https://openvslam.readthedocs.io/
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g2o choice #150

Open cdcseacave opened 5 years ago

cdcseacave commented 5 years ago

Thank you for publishing this great library. I was just wandering what is your opinion on g2o library, and if it would be beneficial transitioning to something like https://github.com/dongjing3309/minisam or https://gtsam.org ?

shinsumicco commented 4 years ago

@cdcseacave Thank you for your advice. In fact, we first tried to use CeresSolver to utilize its autodiff. But some problems about scale drift could not be solved, so g2o is used at the moment. Do you have any information about minisam's and gtsam's performance?

cdcseacave commented 4 years ago

No, I don't, in fact I was hoping you do and this question was more for me to learn about various solvers. I have experience only with Ceres. However I heard some good things about gtsam, and minisam looks promising because it is light.