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I have a trajectory of a quadcopter in 3D. Out of all the poses in the trajectory, I want to correct one of the poses. I then want to adapt the rest of the poses based on the newly corrected pose. I understand that this is a common problem in robotics and there would be a number of solutions. I want a tried and tested c++ library that does this as I want to integrate this feature in my system but not spend time on building it myself. What are the possible c++ libraries I can use?

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  • $\begingroup$ How do you get the trajectory? Is your trajectory generator taking into account the physics of the system ? Is you new pose feasible ? $\endgroup$ – N. Staub Jun 13 '18 at 6:43
  • $\begingroup$ Trajectory is obtained using a stereo camera by tracking features. So I have the location and orientation of the camera for every point in the trajectory. The corrected trajectory point comes from another source. It is also just the pose information. All I have is a chain of poses. $\endgroup$ – Vinmean Jun 13 '18 at 6:47
  • $\begingroup$ So you manually fly and record the trajectory and then 'correct' on point ? $\endgroup$ – N. Staub Jun 13 '18 at 7:32
  • $\begingroup$ Yes, I fly manually and I get the trajectory information real time. I just want to correct the pose for one of those trajectory points. $\endgroup$ – Vinmean Jun 13 '18 at 7:34
  • $\begingroup$ But you want to refly the corrected trajectory ? $\endgroup$ – N. Staub Jun 13 '18 at 8:21
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You can use ceres-solver library which is nonlinear optimization framework implemented for problems like pose optimization and/or bundle adjustment. It supports ICP , bundle adjustment , pose graph optimization and other techniques which is relative to your problem. I think you should glance at it first.

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  • $\begingroup$ I found that ceres-solver has an example implementation called pose_graph_3d that does a optimization of the 3D trajectory. I got it working with sample .g2o datasets. It uses the g2o format for representing trajectory. The format captures poses of each node (VERTEX_SE3) and relative orientation between the nodes (EDGE_SE3). But how is the relative orientation usually found? All I have is a chain of poses (only vertices) How do you think I can estimate the relative poses of each node in my problem? I also have a node for which I know the corrected pose. How does that affect other nodes? $\endgroup$ – Vinmean Jun 15 '18 at 8:55
  • $\begingroup$ As far as i understand you are building keyframe based map. I think one solution could be distributing the drift /error among the keyframes. $\endgroup$ – MIRMIX Jun 15 '18 at 9:21

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