From 4a5bdc735c54603bb0c4be5c12ae1690f7dec1e5 Mon Sep 17 00:00:00 2001 From: raphael Date: Fri, 6 Aug 2021 14:09:27 +0200 Subject: [PATCH] adds youtube to README --- README.md | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 567b2da..12b6948 100644 --- a/README.md +++ b/README.md @@ -6,11 +6,13 @@ The `MSCKF_VIO` package is a stereo-photometric version of MSCKF. The software t This approach is based on the paper written by Ke Sun et al. [https://arxiv.org/abs/1712.00036](https://arxiv.org/abs/1712.00036) and their Stereo MSCKF implementation, which tightly fuse the matched feature information of a stereo image pair into a 6DOF Pose. The approach implemented in this repository follows the semi-dense msckf approach tightly fusing the photometric -information around the matched featues into the covariance matrix, as described and derived in the master thesis[Pose Estimation using a Stereo-Photometric Multi-State Constraint Kalman Filter](http://raphael.maenle.net/resources/sp-msckf/maenle_master_thesis.pdf). +information around the matched featues into the covariance matrix, as described and derived in the master thesis [Pose Estimation using a Stereo-Photometric Multi-State Constraint Kalman Filter](http://raphael.maenle.net/resources/sp-msckf/maenle_master_thesis.pdf). It's positioning is comparable to the approach from Ke Sun et al. with the photometric approach, with a higher computational load, especially with larger image patches around the feature. A video explaining the approach can be -found on [https://youtu.be/HrqQywAnenQ](https://youtu.be/HrqQywAnenQ) +found on [https://youtu.be/HrqQywAnenQ](https://youtu.be/HrqQywAnenQ): +[![Stereo-Photometric MSCKF](https://img.youtube.com/vi/HrqQywAnenQ/0.jpg)](https://www.youtube.com/watch?v=HrqQywAnenQ) +
This software should be deployed using ROS Kinetic on Ubuntu 16.04 or 18.04.