How to add Relocalization function to the open source SLAM framework based on MSCKF (for example: MSCKF-VIO and OpenVINS)? I can get the pose of the relocalization frame through Loop Detection and nonlinear least squares optimization, but the entire system diverges when it is fed back to the MSCKF sliding window.
Dear Hongchen Gao,
I suggest you to see links on topic.
https://www.hindawi.com/journals/js/2021/2054828/
https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6864737/
Article Robust Stereo Visual-Inertial Odometry Using Nonlinear Optimization
Best regards
Dear Hongchen Gao,
Also please take a look at attached files on topic.
Dear Hongchen Gao
This is a common issue, you should go through one more time than you able to find the solution there.
Regards
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