strasdat/ScaViSLAM — Issue #4: Match between different pyramid levels
Author: strasdat
Created: 2011-12-04 20:54:49+00:00
State: open
Labels: Future Features

At the moment, each 3D point has a pyramid level on which the feature lives. Thus all observations live on the same pyramid level.

Alternatively, we could match features between different pyramid levels. This is a severe change:

It requires a change of the point/observation data structure in the front-end as well as in the back-end!