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iOS/android with TOF/LiDAR should use Vis/PnPVarianceMedianRatio=2 #1401

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matlabbe opened this issue Dec 7, 2024 · 1 comment
Open

iOS/android with TOF/LiDAR should use Vis/PnPVarianceMedianRatio=2 #1401

matlabbe opened this issue Dec 7, 2024 · 1 comment
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android bug ios

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@matlabbe
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matlabbe commented Dec 7, 2024

Because it is not stereo data, the variance computation should divide only by 2. Currently the linear variance would be underestimated, causing some upcoming good loop closures to be rejected (by loop closure links, not odometry links).
@matlabbe matlabbe mentioned this issue Dec 7, 2024
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@APOS80
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APOS80 commented Dec 10, 2024

I hope to se a fix of the app soon.

It would really help.

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