Improved depth estimation of mono features#1460
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Euroc datasets are the more negatively impacted by |
matlabbe
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Mar 6, 2025
…proved_depth_estimation_of_mono_features
…proved_depth_estimation_of_mono_features
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I tested again Euroc with live visualization and the results at 1 Hz are pretty close to original results. It seems that a not so accurate loop closure "sometimes" happens, which add significant error, though if I remove that link, the results are close to paper. I'll still keep |
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Added parameters:
OdomF2M/BundleUpdateFeatureMapOnAllFrames: Update 3D local feature map on every frame with bundle adjustment. Recommended ifVis/DepthAsMask=falseandMem/UseOdomFeatures=trueso that features without depth are better triangulated on every frame (not only on keyframes). If disabled, the feature map is updated only when a new keyframe is added (legacy approach).OdomF2M/FloorThreshold: Only track features in 3D feature map that are over this threshold (height in base frame). Can be useful to ignore reflections on the floor. 0 means disabled.OdomF2M/InitDepthFactor: Depth factor used to initialize depth of features without depth. Depth = Factor * fx.TODO: Re-run vslam benchmark datasets with and without
OdomF2M/BundleUpdateFeatureMapOnAllFramesto see if it doesn't affect too negatively the results. Ideally, we would wantOdomF2M/BundleUpdateFeatureMapOnAllFramesto be true by default so that depth of mono features can be correctly estimated all the time.