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HKUST-Aerial-Robotics / DenseSurfelMapping

This is the open-source version of ICRA 2019 submission "Real-time Scalable Dense Surfel Mapping"

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jsYangCode opened this issue · comments

commented

hi, Mr.wang. would you please give me some advice about why The map is so sparse when VO provided by VINS-FUSION compare with ORB-SLAM. As shown follow:（white:VINS-fusion for VO&&"DenseSurfelMapping-VINS-supported" for mapping. color:ORB-SLAM for VO&&"DenseSurfelMapping-master" for mapping）looking forward for your reply! Thank u!
Screenshot from 2020-06-05 10-35-00

commented

Hi, this is an interesting question that I did not notice before.
I guess the reason is that VINS does not provide good visual-consistent odometry estimations due to the inertial term in the optimization. Since the surfel fusion contains many consistency checks, some surfels are filtered out as outliers.
Just my hypothesis.