KumarRobotics/msckf_vio

How hard is to do loop closure in this repo?

brunopinto900 opened this issue · 2 comments

brunopinto900 commented

Hello,

How hard is to perform loop closure & non-linear optimization with this repo? I am trying to use this filter-based VIO into a full Visual SLAM. How feasible is this?

Thank you.

versatran01 commented

It is difficult if you are trying to modify it into a full-fledged slam system. However you can always just use the output of vio to build your slam graph.

brunopinto900 commented

Thanks for your input.