Front-end lost track #1595
Description
When some abnormal factors cause the front-end tracking to be lost, the system can only restore normal operation through relocation. At this point, can I interpolate a pose through external measurements, such as (imu wheel tachometer), etc., to replace the pose calculated by the front end and send it to the back end to construct the signature, thereby ensuring the stability of the system? Will this plan bring about some other problems?