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Adding SE2 constraints to the robot pose estimation made by ORBSLAM2

Does anyone have an idea how to constrain the VO pose estimated by the orbslam2 package to a planar motion model for use on a UGV.

ORBSLAM2 produces a Z elevation during mapping and my attempt is to constrain this to a planar motion on the optimizer end of the code by using the robots odometry as an extra constraint.