Comments (1)
Hi, thanks for your interest.
The optimization code is based on g2o framework. It already includes robust cost weights and chi2 checks in the local bundle adjustments, as you can easily check: https://github.com/luigifreda/pyslam/blob/master/optimizer_g2o.py
If you need it, you can play with other optimization frameworks and add them. You may want to preliminary test them by using slamplay for instance.
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Related Issues (20)
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