Tianyi Lim

icon indicating a website link tianyilim.github.io

icon location Robotics developer focusing on state-estimation and localization

Results 4 issues of Tianyi Lim

Use min_curv to warm start min_time

Hi, is there a way to use the output of min_curv (which computes relatively quickly) to warm start the min_time optimization (which is significantly slower)? Alternatively, is there a physical...

Minimal example for Absolute Pose Estimation

4 comment

Hi, I would like to sanity-check using mast3r for absolute pose estimation. Here is some code adapted from the [example usage](https://github.com/naver/mast3r?tab=readme-ov-file#usage) in the Readme ```python3 matches_im0, matches_im1, pts3d_im0, pts3d_im1, conf_im0,...

Global descriptors from mast3r descriptor map

Hi, thanks a lot for the work! I have a more speculative question, thanks in advance :) Since Mast3r shows such good performance on ultra wide baseline image pairs, I...

Add trajectory saving if present as ros param

It would be useful to automatically save the camera trajectory when the ROS node is shut down. This PR impelments it. I tested with the stereo_inertial and mono_inertial nodes.