viso2 gets lost unless in fast motion

Question

Hi I am trying to use viso2 (https://github.com/srv/viso2) for visual odometry. I have the following setup:

• Kinect camera
• Openni driver (https://github.com/ros-drivers/openni_launch)
• TF-Transform between base_link and kinect_link, so that it is in the optical frame
• Starting viso2 with https://github.com/ct2034/auckbot/blob/master/auckbot_navigation/launch/viso2_demo_mono.launch

The behavior that I am seeing is that most of the time the got_lost flag is set (in the /mono_odometer/info topic). And also the pose is not updated. But when I move the camera really fast, the flag changes for one frame or so and the pose changes.

Is this a problem of setup? But there doesn't seem to be a parameter that influences this.

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Originally posted by ct2034 on ROS Answers with karma: 862 on 2015-02-01

Post score: 1

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Original comments

Comment by Miquel Massot on 2015-02-11:
Are your images rectified?

Answer 1

For a kinect I would recommend you use fovis VO. With it you will take advantage of the depth image and get better results than only with a monocular visual odometer.

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Originally posted by Miquel Massot with karma: 1471 on 2015-02-06

This answer was ACCEPTED on the original site

Post score: 0