Comments (5)
Hi @an99990,
Thanks for your interest in the project!
So as you mention, SE-Sync solves the "back-end" SLAM problem: given a pose-graph optimization problem, find its global minimizer. The problem of constructing a (global) pose-graph optimization problem from raw sensor data (e.g. laser scans, IMU measurements, etc.) is beyond the scope of this method; in brief, this amounts to a feature extraction + data association problem, which is solved by the so-called "front-end" of a SLAM system. In practice, this is typically done using some kind of local relative motion estimation (e.g. laser scan matching, visual odometry, IMU integration, etc.) together with (global) loop closure detection (using e.g. bag-of-words place recognition, etc.).
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hi @david-m-rosen thank you for your prompt answer. Is Se-Sync able to optimize ongoing pose-graph or does it need the whole graph ? I am asking because i wonder if this can be used online while constructing the pose-graph (SLAM front-end).
Thank you
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do you have any advice on how or which library is usually used to construct pose graph ? Or is this something thats usually done manually like a linked list ?
thank you
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can se-sync work with factor graph generated with GSAM ?
from se-sync.
hey @an99990,
I know I'm not David but I think I can answer a few of these questions:
- Yes, SE-Sync is able to optimize an ongoing pose-graph. I myself managed to achieve it by adding the SE-Sync project to the hdl_graph_slam project made by koide3. The thing is, you need to call the SE-Sync optimizer each time a graph is updated;
- I know that there exists a library called g2o that has everything you need to work with a graph: add/delete vertices and edges, add/delete constraints, optimize, etc. You should check koide3's projects hdl_graph_slam and interactive_slam for more info on how to use this library;
- Sorry, I don't know how to work with GSAM.
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Related Issues (20)
- Synchronizing 2D rotations in 3D space HOT 1
- Sequence of recording vertices and edges in g2o file HOT 6
- liblapack.so.3: undefined references HOT 3
- add prior constraint HOT 7
- Question regarding SE-Sync vs. Shonan Rotation Averaging HOT 4
- Where can I find the optimized pose? HOT 2
- Where is the ground truth poses for the data folder? HOT 1
- G2o parsing code incorrectly names a variable as covariance instead of info matrix. HOT 1
- sometimes sesync may output incorrect results HOT 2
- Question regarding prior constraints HOT 8
- can se-sync work with factor graph generated with GSAM ? HOT 1
- Unable to enter visual mode
- The newest/accelerating version compiled in ubuntu 20.04... HOT 3
- How to optimize a least square problem, where there is only one node with multiple prior factors?
- Python binding installation and Inference
- SESync results matrix sometimes flips HOT 1
- can se sync solve BA or PnP?
- Cross compile for other platforms
- Which version of Pangolin should I use
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