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Orb Descriptor drastically reduces odometry performance #42

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makra89 opened this issue Jun 15, 2020 · 2 comments
Closed

Orb Descriptor drastically reduces odometry performance #42

makra89 opened this issue Jun 15, 2020 · 2 comments
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makra89 commented Jun 15, 2020

There very likely is a mistake in the description calculation for lower pyramid layers (scale != 1.). Test scale invariance with dedicated unit tests
@makra89 makra89 added the bug Something isn't working label Jun 15, 2020
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makra89 commented Jun 16, 2020

#44 A bug in scaling of the pyramid layer has been fixed and scale/rotation invariance tests have been added. Odometry performance has improved, but still not as good as with only one layer --> Matcher issue?

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makra89 commented Feb 6, 2021

#47 orb performance has improved a lot. Odometry performance has been tested against opencv implementation. Both perform similar.

@makra89 makra89 closed this as completed Feb 6, 2021
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