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xdspacelab / openvslam

OpenVSLAM: A Versatile Visual SLAM Framework
https://openvslam.readthedocs.io/
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Merging maps #205

Open EmreOzkose opened 4 years ago

EmreOzkose commented 4 years ago

Hi! You mentioned a feature ("Created maps can be stored and loaded, then OpenVSLAM can localize new images based on the prebuilt maps.") in README. However, Does the framework contain merging maps which are created in different time?

Thank you.

Shashika007 commented 4 years ago

@EmreOzkose So far, they have not implemented map merging technique with openvslam like maplab.

shinsumicco commented 4 years ago

@EmreOzkose Currently OpenVSLAM does not have any function to merge maps captured in different times. It can be done by matching images between different maps via geometric verification (e.g. epipolar constraint) and estimate a relative transformation between the two maps in the way like global SfM.