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Questions tagged [monocular]

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1answer
28 views

How to perform active search in point feature based monoSLAM?

I am modifying an implementation of SLAM with single camera, MonoSLAM [1]. Instead of image patches, I want to use features points (ORB) to track landmarks. MonoSLAM uses a EKF framework. So for ...
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0answers
27 views

How to calculate observation matrix Jacobians in EFK based mono slam? What are projection Jacobians?

I have been trying to understand an implementation of monoSLAM 1. But my question is generic to EKF based single camera SLAM. My Jacobian calculation leads to complex and lengthy expressions while ...
1
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1answer
63 views

How to tringulate many projections of a point to optimal postion?

Suppose we have many images for the same scene (with known poses already,using for ex: a GPS ), and the same feature appear in more than 2 images . How to use all the available info to compute as ...
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0answers
77 views

How to properly initialize every new pose in a Visual SLAM algorithm (namely DSO)?

My question is a bit specific, because it is linked to a certain algorithm. Therefore I didn't find any other solutions on how to go about this problem. If you could refer me to research papers, ...
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2answers
129 views

Scale estimation in datasets for monocular odometry

Suppose I've developed a monocular SLAM or odometry algorithm. Then I want to test it on some dataset, for example KITTI, TUM etc. How should I deal with the absolute scale in this way? Thanks.
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2answers
102 views

TU Munich Monocular Visual Odometry Dataset has NaN values in the ground truth data.

I am trying to use the motion sequences in the dataset to create trajectories for VR systems. A major portion of the ground truth data in almost all sequences has NaN values. Is there any other source ...
0
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1answer
113 views

How can I estimate depth of a feature point / object using single camera?

I am trying to estimate depth of a feature point that i find in my image. I read this paper that estimates the depth using a motionless camera and an object of known height to calculate horizon line. ...
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0answers
68 views

Camera calibration sequence with ground truth data

I'm looking for a SLAM dataset (monocular or stereo) specifically with a checkerboard, meaning the camera always has a checkerboard in frame. Most popular datasets provide calibration sequences, ...
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0answers
58 views

Effectiveness of visual odometry algorithms (CPU usage)

My robot needs to obtain visual odometry, with a condition that the used algorithm has to have as low computational requirements as possible and the used camera/sensor shouldn't be very expensive. The ...
1
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1answer
386 views

Forward monocular stereo vision (Structure from Motion)

I am looking for a library (or algorithm) that computes 3D scene (point cloud) from 2 consecutive images of a monocular sequence. I mean something like OpenSfM but only for 2 consecutive frames and ...
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0answers
201 views

Maintaining scale factor for essential matrix

I want to recover the trajectory of a vehicle using a monocular camera via the computation of the essential matrix between t-1 and ...
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0answers
69 views

Consitent Scale in Monocular pose estimation

I just wanted to know if scale is conserved across multiple images, when doing a process such as monocular odometry. I know in reality the scale tends to drift over time due to accumulation of small ...
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0answers
164 views

Scaling monocular SLAM with another source?

I have implemented a stable monocular slam tracking system, based on ORBSLAM2. I am trying to find a way to add real-world distance/scale to this. At the same time, I am running a (less stable) ...
6
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1answer
1k views

SLAM: Why use two cameras (stereo) if SLAM can be done using single camera (monocular)?

I am aware that algorithm for monocular SLAM is complex compared to stereo SLAM. But my question is if by any means it is possible to do SLAM using one camera why one should use two cameras to do the ...
3
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1answer
4k views

How do monocular visual odometry algorithms work? [closed]

What is the core principle of a monocular visual odometry algorithm? I mean, after calibrating a single camera (undistortion etc.) images are fed into an algorithm - what exactly does this algorithm ...