Maplab 学习笔记

[TOC]

Overview

• ethz-asl/maplab: An open visual-inertial mapping framework.

Maplab Framework

Typical workflow

Online ROVIOLI frontend

Offline maplab console

• a convenient console user interface and a map manager to access the maps,
• a plug-in architecture to easily extend it with new commands and algorithms,
• visual-inertial least-squares optimization that can be extended with additional sensors,
• robust pose-graph relaxation using switchable constraints,
• BRISK/FREAK-based loopclosure,
• map summarization for lifelong mapping,
• dense reconstruction and an interface to Voxblox.