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use ancient matched features to refind matches #38

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BaptisteHudyma opened this issue Mar 29, 2023 · 0 comments
Open

use ancient matched features to refind matches #38

BaptisteHudyma opened this issue Mar 29, 2023 · 0 comments
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enhancement New feature or request

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@BaptisteHudyma
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When a match is found with an old feature (better covariance then the currently observed features, and not matched for a long time), retry the matching operation to capture older features.

Ideas:

  • Find a pose using only old features (loop closing pose)
  • update the position of the observed features with the loop closure
@BaptisteHudyma BaptisteHudyma added the enhancement New feature or request label Mar 29, 2023
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