From 222a104f77176a366abd0503c0426c48201553c4 Mon Sep 17 00:00:00 2001 From: ValerioSpagnoli Date: Wed, 14 Aug 2024 12:28:22 +0200 Subject: [PATCH] docs --- docs/index.html | 31 ++++++++++++++++++--------- docs/media/gt_trajectory_markers.png | Bin 0 -> 51571 bytes 2 files changed, 21 insertions(+), 10 deletions(-) create mode 100644 docs/media/gt_trajectory_markers.png diff --git a/docs/index.html b/docs/index.html index 9be1378f..ce1feb06 100644 --- a/docs/index.html +++ b/docs/index.html @@ -54,7 +54,7 @@ table { border-collapse: collapse; width: 90%; - color: rgb(43, 43, 43); + color: rgb(87, 87, 87) } .table_container { display: flex; @@ -250,22 +250,32 @@

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. +

+
+ GT Trajectory Markers +

Final results

Visual results

+

Loading may be a little slow ...

@@ -381,6 +391,7 @@

Numerical results

Frames results

+

Loading may be a little slow ...

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