wyzgliu/vi-stereo-dso

Direct sparse odometry combined with stereo cameras and IMU(updating)

VI-Stereo-DSO

Related Papers:

• Direct Sparse Odometry, J. Engel, V. Koltun, D. Cremers, In arXiv:1607.02565, 2016
• Stereo DSO:Large-Scale Direct Sparse Visual Odometry with Stereo Cameras, Rui Wang, Martin Schwörer, Daniel Cremers, 2017 IEEE International Conference on Computer Vision
• Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization, Lukas von Stumberg, Vladyslav Usenko, Daniel Cremers, 2018 IEEE International Conference on Robotics and Automation (ICRA)

Experiments

• 20190416

Apply First Estimates Jacobians to scale to maintain consistency.

EuRoC MH01:

• EuRoC V1_03:

• EuRoC V2_03:

• 20190409:

green line: groundtruth, redline: VI-Stereo-DSO

P.S.

Tests and evaluation in detail are needed.