Tracking in VIORB

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Source: Mur-Artal 2017 VI-ORB

Tracking in VIORB

  • Visual-inertial tracking at frame rate, instead of using an ad-hoc motion model as in the original ORB-SLAM
  • Tracked states: [sensor pose (R, p), velocities v, biases b]
  • Once the camera pose is predicted, map points are projected, then matches with existing features on the frame
  • Then optimise the current frame j, depending on whether
    • the map has just been updated
    • the map is unchanged

Here, the optimisation function for tracking (when map unchanged) is: unknown_filename.1.png unknown_filename.png