Comments (1)
NikolausDemmel
commented on August 17, 2024
At a quick glance I agree that it probably would make sense to update the optimized pose after sliding window optimization, just before adding the frame to the global map. I guess it doesn't make much difference since the relative poses used in pose graph optimization are recorded using the optimized poses so after pose graph optimization this slight inaccuracy should be "forgotten". However, it might make a small difference if PGO doesn't actually run and in the end we look at TcwOpti as the final estimator output. Looks like then they don't have the "best" available pose estimate as you say.
May @gaoxiang12 has more insight?
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Related Issues (20)
- Improve exception safety with smart pointers HOT 2
- Exporting 3D points visibility information HOT 3
- results file HOT 1
- Why not ORB? HOT 3
- The effect of LDSO Loop closure and feature matching
- Settings tuning
- Run with webcam HOT 1
- Problem with loop closing HOT 3
- I want to run LDSO in a camera for ROS HOT 1
- Does global pose graph help improve the estimation accuracy if no loop is detected? HOT 3
- I don't know why the point cloud checked by the DSOviewer is different from the point cloud of the saved output ply file. HOT 7
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