We operate in GPS-denied environments, and our data-acquisition robot records a video. Using VIO, we could obtain the robot trajectory, and use it to add a geolocation to the images.
This could enable the use of the “Use Triangulation of Image Geolocation” and/or “Use Distance” matching strategies.
With these more advanced matching strategies, I hope to reduce the processing time and make the reconstruction more robust (thanks to loop closure).
One issue however: the trajectory obtained with VIO is often drifting. So the images would not be geolocated very precisely at a large scale. Therefore, I would like Pix4D to use the geolocation only for the matching strategy. In the optimisation process, it should give a very low weight to these positions, because they are probably inacurate.
Is that possible? How to set up Pix4D for this case?
I would love to hear from anyone who has experience in combining VIO and photogrammetry!