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HKUST-Aerial-Robotics / FIESTA

Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots

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Using the pose and loop information from ORB-SLAM2

Qiang-F-F opened this issue · comments

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I am trying to run Fiesta with ORB-SLAM2 providing the pose information on the TUM rgbd dataset. And the mapping result is very poor when the pose is not accurate. I am wondering if there is any way to use the loop information from the ORB-SLAM2 to correct the mapping result. Thanks