NVIDIA-ISAAC-ROS / NVIDIA-ISAAC-ROS/isaac_ros_visual_slam
What is the LMDB database (map representation)?
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Description
Dear isaac_ros_visual_slam developers,
Thank you very much for making isaac_ros_visual_slam package with its source code made publicly available.
I am going through Raffallo Bonghi's webinar (I think it was published a few years ago) on this package and found the detailed walk through of each subsystems very interesting.
I am trying to understand the LMDB databsae (map) module as shown below
However, I couldn't find any information regarding the mapping representation block. Is it a directed chain of keyframes (similar to ORB-SLAM3, GTSAM) or is it something different? Does it have any connection to the costmap based environment representation used by downstream software stack like Nav2?
Best,
@Mechazo11
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start with the LMDB database (map) module and the mapping representation block referenced in the issue. Determine how the map is represented and whether it connects to the Nav2 costmap-based environment representation, using the comparisons to ORB-SLAM3 and GTSAM as context. Done means documenting clear answers to both questions.
Written by the indexing model from the issue text.
Assessment
- Domain
- databases, documentation, robotics
- Issue type
- Documentation
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100