Author: Lukas von Stumberg
- Work on marginalization to limit the update time
- scale is not observable with camera IMU in the constant velocity case
- initialization of gravity and scale with VIO in the beginning, then scale and gravity direction are still part of the optimization pb
- pose graph bundle adjustement with dynamically weighted photometric factors
- pre integration between KF of IMU data
- photometric strategy based on DSO Direct Sparse Odometry
- error dependent weight for photometric factors to reduce the weight of pixels with high error
- Marginalization with the Schur Complement
- Marginalization creates a marginalization factor
- what is a active factor? a factor on active keyframes (maybe)
- Delays marginalization by Linearizing previous factors
- Photometric factors shared between 8 KF
- Marginalization is done step by step ie. once for each variable
- Optimizing variables => obtaining covariance
Commentaire:
Papier très dur à comprendre, mais traite de l'utilisation des factor graph en temps réel: très intéressant. Le reprendre à tête reposée et/ou lire le papier DSO