search

youmi-zym / GO-SLAM

[ICCV2023] GO-SLAM: Global Optimization for Consistent 3D Instant Reconstruction
Apache License 2.0
344 stars 30 forks source link

Where can I find the code using backend.loop_radius? #24

Closed cmh1027 closed 6 months ago

cmh1027 commented 6 months ago

I'm struggling with finding the code part where finds high covisibility between local keyframes and historical keyframes to find loop like mentioned in the paper. However, I can't find the corresponding code with that. Is it not included in the code yet?

youmi-zym commented 6 months ago

Hi,

You can find it here. All configs are inherited from go_slam.yaml.

Best, Youmin

cmh1027 commented 6 months ago

How about the code part, not a config file?

lvmingzhe commented 6 months ago

same question.

lvmingzhe commented 6 months ago

https://github.com/youmi-zym/GO-SLAM/blob/5f11b52c22aaa33b0711fa85fdadb8300f11b6c1/src/backend.py#L143

Maybe self.backend_radius here should be self.backend.loop_radius

lvmingzhe commented 6 months ago

is this all the strategy to decide when droid-slam could find a loop? I`m not sure how it works especially in line 84 can you explain the basic idea to me? Thx

https://github.com/youmi-zym/GO-SLAM/blob/5f11b52c22aaa33b0711fa85fdadb8300f11b6c1/src/backend.py#L78-L92

youmi-zym commented 6 months ago

Hi @lvmingzhe,

You are right, there is a typo and I fix it. As for line 84, it detects whether nearby frame pairs have high covisibility. It improves the SLAM system in rejecting negative loop closures.

Best, Youmin