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Implement a monocular VIO pipeline using GTSAM and the ImageProcessor class #27

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prashanthr05 opened this issue Aug 5, 2021 · 2 comments
Open

Implement a monocular VIO pipeline using GTSAM and the ImageProcessor class #27

prashanthr05 opened this issue Aug 5, 2021 · 2 comments
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We have implemented the ImageProcessor class in #10 and #11. We can make use of this along with GTSAM's IMU Preintegration methods to implement a VIO pipeline.

Reference project: https://github.com/ganlumomo/VisualInertialOdometry
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See #6 (comment) for first steps.

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prashanthr05 commented Aug 5, 2021 •
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  • Forster's IMU PreIntegration (CombineIMUFactor with Manifold Preintegration) + Aruco markers (BetweenFactor)
  • Forster's IMU PreIntegration (CombineIMUFactor with Manifold Preintegration) + Points Tracking (SmartProjectionFactor)
  • ...

Alternate method is to use (CombineIMUFactor with TangentSpace Preintegration) which is documented in gtsam/doc/ImuFactor.

@prashanthr05 prashanthr05 self-assigned this Aug 6, 2021
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