Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Loop closure #33

Closed
stephanietsuei opened this issue Jan 21, 2022 · 1 comment
Closed

Loop closure #33

stephanietsuei opened this issue Jan 21, 2022 · 1 comment
Assignees
@stephanietsuei
Labels
enhancement New feature or request

Comments

@stephanietsuei
Copy link
Collaborator

stephanietsuei commented Jan 21, 2022 •
edited
Loading

Implement loop closure and test on the six room sequences of TUM VI dataset. Performance (ATE and RPE) should improve beyond what's listed here.

Steps in this issue:

  • A feature that prints out GraphViz (or similar) files of groups in the map.
  • Use DBoW2 library with both BRIEF and ORB descriptors to search for matches.
  • Validation of matches using RANSAC
  • Additional measurement update in the Estimator

Loop closures will happen in a background thread alongside pose graph optimization (see issue #3)
@stephanietsuei stephanietsuei added the enhancement New feature or request label Jan 21, 2022
@stephanietsuei stephanietsuei self-assigned this Jan 21, 2022
@stephanietsuei
Copy link
Collaborator Author

Implemented in #34.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees

@stephanietsuei stephanietsuei

Labels
enhancement New feature or request
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@stephanietsuei