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ORB-SLAM De-couple its Modules, Bundle Adjustment (Global map) - Coggle…

- - - - Velocity estimation/ (Pose estimation)
        
        Keyframe Strategy
        1) Keyframe bundle: Images, pose, features
        2) Keyframe ID (timestamp), association-graph
        3) How to set keyframes: Pose diff, view frustum
        
        Loop Closing
        
        Mapping
        
        Keyframe map
        
        Novel view synthesis
        (Rendering) for XR
        
        TSDF map
        
        Point cloud map
        
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        OUTPUT: a file
        
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        VISUALIZE
        
        Loop detection
        (BoW feature matching)
        
        Covisibility
        Keyframe map
        
        Graph-optimization
        (g2o)
        
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        Relocalization
        
        Global map
        
        Keyframe graph
        -> topological map
        
        Local Covisibility
        Keyframe map