Stephanie Tsuei
Stephanie Tsuei
Write unit tests for dynamics jacobians that compare analytical values to first-order numerical approximations with a small step size. (Similar unit tests have been implemented in `src/tests/unittest_jacobians_instate.cpp` for the measurement...
The current representation of features in the state is `xc = [X/Z, Y/Z, log(Z)]`; this estimates each feature's depth and direction and uses 3 states per feature. The original version...
Currently, we expect that accelerometer and gyroscope streams are synchronized. This is the case for some, but not all, IMUs.
Upgrade the following dependencies to later versions: 1. OpenCV: 3.4.x -> OpenCV 4.x or 5.x 2. Eigen: 3.3.9 -> 3.4.x 3. Pybind This may be related to issue #64.
Investigate and fix the following two broken Python interfaces. 1. The variable `Estimator::MeasurementUpdateInitialized_` should be `false` at first, but then switch to `true` after the first measurement update is performed...
Currently, all computation is done on the CPU. Implement a compile-time or runtime switch for using an onboard GPU instead of a CPU to detect new features. (This may require...
The current bag-of-words loop closure framework only supports BRIEF descriptors. It should support all the feature descriptors supported in the `Tracker`, including those implemented as part of issue #39. For...
I am working on XML input and output of data structures. Since it looks like several of us, including me, will want this feature very soon, we should discuss what...
We currently find an initial depth estimate of features using a combination of a subfilter and triangulation. XIVO triangulates after only two frames, even though there is often not much...