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windowoptimization's Introduction

WindowOptimization

Basic WindowOptimization algorithm in SLAM.

  • 参照DSO,实现了最基本的相机位姿的marglize方法求解优化步长
  • 各个类数据放到了类本身的结构体里
  • 实现完整地marg掉点
  • 加入EuRoC MAV数据集加载代码,便于以后进一步完善及测试
  • 模板化,参数可根据实际情况调整
  • Hession矩阵、Residual结构OO化,并修改OptimizerDebug为一个实现样例
  • 完成BA中的残差计算、梯度计算

todo..

  • 完整的BA就差验证上面的第7条!!
  • 地图点部分的update求解(easy,低优先级)
  • 实现完整地marg掉帧
  • LM算法
  • SSE
  • 前端
  • IMU

windowoptimization's People

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