Steven Waslander issues

Results 26 issues of


                                            Steven Waslander

Feature extraction in opencv

This is to remove dependencies on Gvar3 and libcvd and enable more features to be tried.

Software Architecture description needs completion

This issue requires at least the following: 1) a decision on whether to rewrite each piece of current code to eliminate software license issue and improve code structure from within...

Add integrity monitoring for tracking vs. GPS/INS when integrated.

Add active loop closure detection

Add options for outlier rejection in tracker

Parity space ransac anyone?

Integrate Ceres as a backend

Improve robustness of feature management and pruning

Currently they just accumulate until the map becomes unwieldy.

Integrate multi-rate EKFs with delays into tracker

Integrate GPS and INS into the tracker thread

Requires creation of sensor bundle messages and templates for using measurements in tracker.

Convert tracker to an iterated EKF using motion models

Related to adding motion models issue