Is OKVIS a SLAM system

[koko19]

Hi,

Thank you very much for publishing OKVIS code as open source!

I have read both paper regarding OKVIS:

[1] Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization.
[2] Keyframe-based visual–inertial odometry using nonlinear optimization.

In [1] you call OKVIS a SLAM system, while in [2] it is referred to as only odometry solution. As I understand the SLAM part is related only to the local optimization which is constrained to the last N keyframes and not to the global optimization of the entire pose graph. Also you stated that OKVIS does not use any form of loop closing, however by going through the code I found part where you compare current keyframe with previous keyframes. Could you please tell me if this is also only between the last few keyframes and if so would it be possible to simply allow global optimization by allowing the optimization of all keyframes and not just the last N?

[zhaozhongch]

There is no loop closing and batch optimization(optimize all keyframes) in okvis so yeah, it is not a SLAM system in that sense but this system is still good to use