About config on different datasets

[Ysc-shark]

Thank you for your excellent work.

I would like to try running your code on some different datasets for SLAM, such as outdoor scenes with 1920×1280 resolution input. Could you please advise on how to choose certain parameters in the config file for such cases? Any suggestions would be greatly appreciated. Thank you.

[zhangganlin]

Hi,

Personally I did not try glorie-slam on other datasets, but if you want to test on some realworld datasets, it should be similar to ScanNet or TUM-RGBD. For outdoor dataset, I think you can set tracking.motion_filter.thresh and 'tracking.frontend.keyframe_thresh' a bit larger avoid adding too many keyframes.

Also, 1920*1080 might be too large to fit into memory, I suggest to downsample it first.

Best, Ganlin

[Ysc-shark]

Hi,

Personally I did not try glorie-slam on other datasets, but if you want to test on some realworld datasets, it should be similar to ScanNet or TUM-RGBD. For outdoor dataset, I think you can set tracking.motion_filter.thresh and 'tracking.frontend.keyframe_thresh' a bit larger avoid adding too many keyframes.

Also, 1920*1080 might be too large to fit into memory, I suggest to downsample it first.

Best, Ganlin

Thanks