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SpectacularAI / HybVIO

HybVIO visual-inertial odometry and SLAM system

Home Page:https://arxiv.org/abs/2106.11857

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Visual inertial ekf slam

poudyalbot opened this issue · comments

commented

Res sir,
Can hybvio perform classical tightly coupled visual inertial ekf slam discarding msckf type update and improvisation described in paper.
Thank you

commented

Hello. EKF-SLAM without any MSCKF pose trail is not supported in this codebase. However, it is possible to do hybrid-EKF-SLAM (i.e., EKF state that consists of both 3D map point and MSKCF-style poses) by modifying the hybridMapSize parameter.