Mapping in VIORB

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Source: Mur-Artal 2017 VI-ORB

Mapping in VIORB Previously in ORBSLAM (only poses are optimised): unknown_filename.png

Now in VIORB, more states to optimise: unknown_filename.1.png

Increase in complexity

  • more states to optimise (v, b)
  • IMU measurements creates constraints between keyframes

Original ORBSLAM discards redundants KFs (poses a problem with IMU constraints!) Workaround: in local BA, only allow discarding of KF if, after discarding, the time between two consecutive KFs is short enough (<= 0.5s) Further: in full BA (after loop closure, or any time for map refinement), only allow time between KFs to be <= 3s (to reduce IMU noise integration)