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Published 20 hours ago • verified publisher icon symforce-org

Poor accuracy versus Ceres in VSLAM

Open empty-spacebar opened this issue 7 months ago • 11 comments

Hi,

I replaced Ceres with Symforce in a graph-based VSLAM backend, result in a bad accuracy. Here are the details:

Screenshots 1 2 image

Environment

  • Ubuntu Linux 20.04
  • SymForce Version 0.9.0

Additional context

  1. Mostly Ceres could converge within 10 times itertations, while Symforce can hardly converge within 50 times.
  2. Drastic drift happened when use the sym::Optimizer parameters which offical examples use(as the screenshots above shows).
  3. I have already tested the validity of the values and factor graph built for the problem.

empty-spacebar avatar Jul 13 '24 11:07 empty-spacebar