Authors: Joan Solà, Joan Vallve-Navarro, Joaquim Casals, Jérémie Deray, Médéric Fourmy, Dinesh Atchuthan and Juan Andrade-Cetto
Year: 2021
- Extend factor graph to build more general estimators (self-calibration & dynamic quantities other than pose)
- Tree structures with nodes like Sensors, Processors, Captures...
- factors = relation between state blocks and measurements
- processors = front-end, factors = back-end, problem= tree management
- YAML information provider => no need to compile the code for a new problem
- Pre integration not only for IMU but for every proprioceptive sensor
- 2 types of tracker: frame to frame (scans or depth map) or feature to map (april tag & co)
- Future work: multi-threading processors for real-time applications
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