Updating the EurocMono params to give good VIO performance #255
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Problem
On the current version of master, the default EurocMono params give very poor pose estimation. See this issue for full details.
Change Summary
Updating the EurocMono params to give "good" VIO pose estimation. These changes include:
feature_detector_typefield inparams/EurocMono/FrontendParams.yamlfrom GFTT to FASTlinearizationModefield inparams/EurocMono/BackendParams.yamlfrom Hessian to Implicit SchurTesting
This change was tested using the
stereoVIOeuroc.bashscript with the Euroc V1_01_easy dataset in a monocular configuration. With the updated params, the VIO performance produced less than +/-0.2m of error in axis.