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Monocular SLAM or Stereo SLAM for EuRoC MAV #2

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sandeepnmenon opened this issue Mar 11, 2022 · 0 comments

sandeepnmenon commented Mar 11, 2022

In the paper I see that

The monocular camera motion was estimated using the open source real-time
SLAM library ORB-SLAM2
But in this repo references, I see Stereo SLAM.
Can we expect the results in the paper from Monocular SLAM? When I visualize Monocular SLAM trajectory with the Ground truth poses, the trajectories do not match.

Can this solver handle this? I am trying other python cvxpy solvers and it does not give good results.

Also, how is the sampling done for the high frequency IMU (200Hz) and camera (20Hz) trajectories?

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