IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation

[@NikolausDemmel]

Impressive work. Looking forward to Rome.

[@weikunzhen6386]

Very impressive. I have a question about the data association. How the landmark outliers are handled in the structureless formulation?

[@offmeds2nite]

Impressive. Is the proccessing occurring on the data stream happening on-board, or offline?

[@3243234455422]

***** we run the experiments off-line on a laptop computer. we are working on making it work on the drones...

[@alexandergrau887]

Did you succeed to get it working in realtime on the drones? (and if so, what hardware did you use and what FPS did you achieve)

[@bergonius]

Can this algorithm be applied to stereo video feed? Would it work better?

[@3243234455422]

bergonius yes, it can be applied to stereo also. it works better because the scale is directly observable with two cameras.

[@mikejmills1]

Very interesting work. You said you released the code in GTSAM 4.0 but I can't find it. Is it in the bitbucket repo?

[@3243234455422]

Mike Mills yes, it's in gtsam/navigation/ImuFactor

[@mikejmills1]

Christian Forster Thank you

[@NikolausDemmel]

One more question on the released implementaion. Which is the structureless vision factor referenced in the paper?

[@ailabRPG]

Nikolaus Demmel They are called SmartProjectionFactors in GTSAM :)

[@NikolausDemmel]

ailabRPG They are pretty smart ;-)
Thanks for the hint!

[@akunpang8625]

Is there any access to the staircase dataset ?

[@rushiqian8874]

Is the code open source?

[@SiddharthJhakaas]

Impressive!