video bilibili

video youtube

1. pangolin: https://github.com/stevenlovegrove/Pangolin
2. opencv
3. Eigen
4. Ceres: use ceres for the initialization part

mkdir build
cd build
cmake ..
make -j

cd build
../bin/testCurveFitting

cd build
../bin/run_euroc

successfully run in a calibrated RealSense D435i camera (Mono + IMU mode)

TODOs:

• update the solver for a faster process.
  • Keep the jacobian unchanged if the parameters not changed too much.
  • Try to use a different optimizer. (DogLeg or PCG)
  • Build faster the Hessian matrix.
  • Try sparse Hessien matrix.
• update the fault detector of my solver.