strasdat/ScaViSLAM — Issue #8: Implement Schur-Complement for Anchored Landmarks
Author: strasdat
Created: 2011-12-06 12:07:09+00:00
State: open
Labels: ToDo

ScaViSLAM uses at the moment an anchored landmark model. In general, each Observation is linked to three Jacobian:
- The point-Jacobian,
- The keyframe-Jacobian (from which the point is observed)
- The anchorframe-Jacobian (to which the point is anchored)
Thus, we do have a "three" hyper-edge.

However, the current g2o release only supports the Schur-Complement for binary constraints.
ToDo: Implement the Schur-Complement for 3-edges inside of g2o and integrate this change into ScaViSLAM. This should lead to a significant speed-up of the back-end!

(Note: At the moment, g2o is developed in a private repository. On openslam.org, there are only release snapshots. Modifying the version on openslam.org is probably not a good idea, because it is quite outdated already. However, there are plans to host the g2o development branch publicly soon...)