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Improve accuracy using IMU #7

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eperdices opened this issue Apr 12, 2018 · 1 comment

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eperdices commented Apr 12, 2018

Current RGB-IMU Fusion doesn't improve Monocular SLAM accuracy. It should be reviewed to extract more orientation information from IMU data.

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eperdices commented Mar 6, 2019

Right now, there is an EKF inside SD-SLAM for IMU data fusion. It does not work very well and it even harms SD-SLAM accuracy.

There are several algorithms already implemented in ROS for IMU fusion, it is worth it to try to use these algorithms and remove our own EKF fusion:

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