Commit Graph

26 Commits

Author SHA1 Message Date
Nikolaus Demmel 8d8a69c775 Reference granite for multi-flow implementation 2021-10-15 15:11:40 +02:00
Nikolaus Demmel 24325f2a06 ICCV'21 square root marginalization paper code release
Major changes:

- New square-root implementation for optimization and
  marginalization, giving faster optimization and numerically
  more stable marginalization. The square root solver is the new
  default, but the Schur complement based implementation is still
  available. (Implements the ICCV'21 paper.)

- The odometry estimator is now fully templetized and you can run
  in float or double. Default is float, which works well with the
  new square-root implementation and gives best runtimes.

- Batch evaluation scripts and documentation to reproduce the
  ICCV'21 experiments.

Additional changes:

- New options in VIO to marginalize lost landmark right away and
  not only when the frame is marginalized (enabled by default).

- small bugfix for keypoint patch extraction bounds

- basalt_vio: more logging for batch evaluation

- basalt_vio: better handling of closing the GUI while estimator is still running

- basalt_vio: new command line argument to limit the number of frames processed

- basalt_vio: new command line argument to save ground truth trajectory

- added unit tests for square root marginalization

- update basalt-headers

- new submodules: gmt, nlohmann/json, magic_enum
2021-10-15 15:09:15 +02:00
Vladyslav Usenko 1b8a855c43 Update apt repository info 2021-08-07 10:40:48 +02:00
Nikolaus Demmel d316689e6a remove xenial 2021-08-06 10:57:39 +02:00
Vladyslav Usenko 7f2c792e44 Removed 16.04 repository 2020-11-21 15:45:03 +01:00
Vladyslav Usenko 49dd37cf88 Update README.md 2020-08-13 08:41:15 +00:00
Vladyslav Usenko fa63b64c8a update docs 2020-04-29 11:24:25 +02:00
Vladyslav Usenko 0b0399a1f9 Updates to Docker, Readme and CI 2020-04-28 23:01:10 +02:00
Vladyslav Usenko 0f613ef060 update readme 2019-12-24 16:20:49 +01:00
Vladyslav Usenko dc4391b930 Update README.md 2019-12-03 15:26:39 +00:00
Vladyslav Usenko 9264023b14 Added Docker related CI 2019-12-03 15:15:06 +00:00
Vladyslav Usenko 8edc80ec8b update submodules 2019-11-06 17:38:10 +08:00
Vladyslav Usenko 275e4ceb66 fix t265 tutorial 2019-10-01 17:22:42 +02:00
Vladyslav Usenko 8490705da4 Tutorial on photometric and geometric camera-IMU-Mocap calibration with Realsesnse T265 2019-09-30 15:11:22 +00:00
Vladyslav Usenko 2eb8911625 Added KITTI to docs 2019-09-10 15:40:06 +00:00
Vladyslav Usenko 21d46944a7 update headers 2019-08-30 15:51:19 +02:00
Vladyslav Usenko 0e8ebf7096 update headers 2019-08-30 15:50:44 +02:00
Vladyslav Usenko d9a6c7209e Updated docs 2019-08-26 17:55:03 +02:00
Vladyslav Usenko 6dc25ad0c1 Update documentation. 2019-08-05 12:39:34 +00:00
Vladyslav Usenko 3b79bf2bb6 Added development documentation. 2019-05-15 11:28:35 +02:00
Nikolaus Demmel a53f3126d5 Update readme to reflect macOS compatibility 2019-04-24 16:48:18 +02:00
Vladyslav Usenko 97647bca5f Update README.md 2019-04-17 11:23:17 +00:00
Vladyslav Usenko a3b5e37999 updated Readme.md 2019-04-16 08:13:21 +02:00
Vladyslav Usenko 4fd5d503e6 Update README.md 2019-04-15 12:06:25 +00:00
Vladyslav Usenko 19f8f32642 Update README.md 2019-04-15 09:34:45 +00:00
Vladyslav Usenko 0cef943b16 Initial commit 2019-04-14 21:08:32 +02:00