VI-Stereo-DSO
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RonaldSun
Direct sparse odometry combined with stereo cameras and IMU
How can i calibrate IMU and camera to get 4x4 matrix from euroc/IMU_info.txt ?
Hi, thanks for your works. After reading your codes related to evaluation of imu residuals, I was puzzled by some some terms. Did you derive the formulae yourself or refer...
When I run the euroc dataset MH_01_easy, the system always fails to initialize, but I see that your running result is very good, I only modified some file addresses in...
I would like to use monocular camera and IMU to mapping, and I wonder if your code now supports monocular?If not, is it difficult to change the code to support...
Hi, Thank you for sharing your great job. I'd like to use position(velocity) and posture as the input instead of gyro&acc. How do I modify the code? I'm now reading...
I am trying to implement automatic calibration from feature points with libraryes like https://github.com/hovren/crisp and https://github.com/AaltoVision/camera-gyro-calibration I found, that i cant find translation part from Imu-Camera matrix. Can i just...
It will be good to realize point cloud alignment with gravity direction, because scene basis initialize randomly.
Does the VI-DSO algorithm（Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization） can work in Monocular camera？
您好，去想请问一下，在您开源的代码里，粗跟踪中，IMU的正规方程雅可比为何是这样子的 Mat44 T_temp = T_BC.matrix()*T_WD.matrix()*M_DCj.inverse(); Mat66 J_rel = (-1*Sim3(T_temp).Adj()).block(0,0,6,6); // Mat44 T_temp = T_BC.matrix()*M_DCj.inverse(); // Mat66 J_rel = (-1*SE3(T_temp).Adj()); Mat66 J_xi_tw_th = SE3(M_DCi).Adj(); // LOG(INFO)
