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SO3 Lie Group? #44

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ghost opened this issue Mar 20, 2016 · 2 comments
Closed

SO3 Lie Group? #44

ghost opened this issue Mar 20, 2016 · 2 comments

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@ghost
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ghost commented Mar 20, 2016

does the orb slam 2 use the lie group ? in Loop closure?
@poine
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poine commented Mar 20, 2016

I am not sure to fully understand your question but your answer might be
in: http://europa.informatik.uni-freiburg.de/files/kuemmerle11icra.pdf
So... looks like yes, g2o uses an error parametrization to get avoid
singularities in rotations.

On Sun, Mar 20, 2016 at 3:11 PM, bitchenxu notifications@github.com wrote:

does the orb slam 2 use the lie group ? in Loop closure?

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#44

@ghost
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ghost commented Mar 20, 2016

i have found it in the paper.

@ghost ghost closed this as completed Mar 20, 2016
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