[QUESTION] Release visual loop-closures?

Question

[QUESTION] Release visual loop-closures?

Closed this issue 2 years ago · 3 comments

Hi, one of the critical contribution of this work is about the loop-closures, but the current release is missing the visual loop-closure part. May I ask do you plan to release it so that other works could benchmark the real performance of this work?

Answer 1 · 2023-02-23T16:41:39.000Z

Hey, I would like to ask for this as well!

Answer 2 · 2023-02-27T13:30:41.000Z

Hi, you can refer to #1 for further info on the loop closures from @nathanhhughes. He also mentioned they were trying to release the code for this before the IROS deadline which is this week

Answer 3 · 2023-03-08T15:38:28.000Z

@huma0605 @Atellas23 Thank you for your interest! We've made a pre-release of Kimera-VIO and Kimera-VIO-ROS available with the required interface to publish visual loop closure information. Please refer here for instructions.