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I found that DSOL use the weighting function from DVO rather than using huber like original DSO, why? Is that because you have test them and found it better using...

Hi, I'm thinking how to accelerate DSOL further more, then i realize that DSOL uses lie group(9 DOF) for residual computing just like original DSO, however quoternion uses only 4...

Cholesky failure, writing debug.txt

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Hi. We have tried testing DSV on KITTI sequences 00. No matter when direct alignment or icp, DSV outputs "Cholesky failure, writing debug.txt (Hessian loadable by Octave)" when loop detection...

questions about rootba on visual odometry

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Hello, thanks for open-sourcing your great work. Here are my questions: 1, Why did you implement rootBA on Basalt rather than DSO, another famous work from TUM? Since rootBA is...

Hi, Chao Qu. I found that the default configuration of DSOL doesn't use marginalization, it makes sense because DSOL performs worse with marginalization ON. But why? Theoretically it should performs...

Poor accuracy versus Ceres in VSLAM

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Hi, I replaced Ceres with Symforce in a graph-based VSLAM backend, result in a bad accuracy. Here are the details: **Screenshots**    **Environment** - Ubuntu Linux 20.04 -...