Optimizing VI-Maps

Commands:

optv     # Optimization based on the visual data only (landmark observations)
optvi    # Optimization based on the visual and inertial terms (landmarks and IMU)

Hints:

  • The optimization can be aborted at any time using Ctrl-C, it will then abort after at the end of the current iteration.

  • Important flags:

    --ba_num_iterations                # Set the maximum number of iterations of the optimization.
    --ba_visualize_every_n_iterations  # Visualize the result of the optimization at every Nth step.
    
  • Only landmarks flagged as ‘good’ will be part of the optimization. The following flags can be used to set the parameters of the quality metrics:

    --vi_map_landmark_quality_min_observation_angle_deg
         # Minimum angle disparity of observers for a landmark to be well constrained.
    --vi_map_landmark_quality_min_observers
         # Minimum number of observers for a landmark to be well constrained.
    --vi_map_landmark_quality_min_distance_from_closest_observer
         # A landmark needs to be at least as far away from the observer to be well constrained [m].
    --vi_map_landmark_quality_max_distance_from_closest_observer
         # A landmark cannot be further away from the observer than this to be well constrained [m].
    

    The landmark quality can be (re-)evaluated using the rtl or ‘evaluate_landmark_quality command (before the optimization):

    evaluate_landmark_quality  --vi_map_landmark_quality_min_observers=2 ...