Author: Wu
Year: 2023
- Tightly coupled KLT and descriptor matching for indirect VIO. Test method on both filter based and optimization based algorithm. Use KLT and superpoint (CNN method for extraction)
- Tackles the pb of lost tracked that are rediscovered after
- complementary strength: tracker for small motion, descriptor for big
- run tracking and matching in parallel and perform validation
- SuperPoint: Following the encoder, the architecture is split into two decoders, each designed to learn the weights of specific tasks: one for keypoint detection and the other for descriptor computation
- KLT module: forward / backward tracking
- Descriptor module: KNN algorithm with k = 2 + forward backward tracking
- Points that are succesfully tracked with both
- Then perform RANSAC filtering with fundamental matrix