From 222a104f77176a366abd0503c0426c48201553c4 Mon Sep 17 00:00:00 2001
From: ValerioSpagnoli Results
-The number of iterations is set to \(300\), but the algorithm halts when the error falls below a specified threshold. To achieve greater accuracy, this threshold is set to \(10^{-4}\), -resulting in most frames requiring nearly \(300\) iterations. Combined with the high damping factor, this leads to slow convergence, but it ensures more precise results. -
--The algorithm was executed for only the first 50 frames (from 0 to 49) because, beyond the 50th frame, it begins to diverge due to the sharp curve of the desired trajectory. -The lack of loop closure detection or any other corrective techniques prevents the algorithm from recovering the correct trajectory. As a result, if the error starts to increase, -the triangulation of new map points becomes inaccurate, causing the algorithm to diverge. -
+
+ + The number of iterations is set to 300, but the algorithm halts when the error falls below a specified threshold. To achieve greater accuracy, this threshold is set to \(10^{-4}\), + resulting in most frames requiring nearly 300 iterations. Combined with the high damping factor, this leads to slow convergence, but it ensures more precise results. + ++ The algorithm was executed for only the first 51 frames (from 0 to 50) because, beyond the 50th frame, it begins to diverge due to the sharp curve of the desired trajectory. + The lack of loop closure detection or any other corrective techniques prevents the algorithm from recovering the correct trajectory. As a result, if the error starts to increase, + the triangulation of new map points becomes inaccurate, causing the algorithm to diverge. + + |
+ + + | +
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