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Published 20 hours ago • verified publisher icon appliedAI-Initiative

Data stored in the map binary file

Open rakshith95 opened this issue 2 years ago • 0 comments

Hello, From reading the ORB slam paper, I assume it contains:

  1. Key frames: BoW vectors for the keyframes
  2. tracked features in the keyframes
  3. 3D location of these tracked features

Is any other information saved? Is there any additional information on the above as well(for eg, if the tracked features are saved, are they saved as raw orb features)?

rakshith95 avatar Aug 04 '21 16:08 rakshith95