MORB_SLAM

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Memory Leak due to MapPoins and KeyFrames not being deleted, only the pointers. https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/219

Ryan-Red

Potential Bug in UpdateLastFrame()

1

See https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/271 for potential fix.

Ryan-Red

## Description: Vocabulary takes a long time to load. ## Solution: https://github.com/TeerapongPoom/ORB_SLAM3-RGBD-Inertial

Ryan-Red

## Description: In localization mode, after loading from a file, it might not track properly. ## Solution: See this post: https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/515 Relates to #35

Ryan-Red

## Description: It is possible for the poses outputted by **Tcw** from **TrackStereo** have jumps/changes. ## Solution: This happens when the IMU initializes itself, make sure to multiply the outputted...

Ryan-Red

## Description: If the camera is covered for a bit, SLAM is unable to re-locate itself. See https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/377. See https://github.com/UltiFix/ORB_SLAM3/commit/3e3f9ee095dd8cfc0bb7562dcf2eef4b4839ca06 for a fix that worked

Ryan-Red

## Description: See https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/355. Effectively, the sorting uses the address of a pointer, which makes the entire thing not reproducible. Need to see if this is even necessary in the...

Ryan-Red

## Description https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/332 details many issues that make it such that none of the optimizations are actually being used.

Ryan-Red

Ensure that the IMU is well initialized. See https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/325

Ryan-Red

See https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/320 for a potential optimization.

Ryan-Red