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Influence of Inverse Depth #112

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xushangnjlh opened this issue Apr 17, 2018 · 1 comment
Open

Influence of Inverse Depth #112

xushangnjlh opened this issue Apr 17, 2018 · 1 comment

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@xushangnjlh
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xushangnjlh commented Apr 17, 2018 •
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Thanks for your wonderful work.
I noticed that the depth (not inverse depth) of mappoint varies a lot during exploration, leaving the map size of vio system not very consistent or deviating from real world. I am wondering, if change the parametrization of mappoint to usual x,y,z, whether the system can have a comparative performance, as the scale estimation is not precise when initialized?
Ref. https://github.com/HKUST-Aerial-Robotics/VINS-Mono/issues/118
@PeiliangLi
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Yes, it will at least have a comparable performance.

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@PeiliangLi @xushangnjlh