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Questions tagged [visual-odometry]

visual odometry is the process of determining the position and orientation of a robot by analyzing the associated camera images.

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Map initialization problem in Mono SLAM

I'm reading and trying to implement the paper Monofusion(V. Pradeep, C. Rhemann, S. Izadi, C. Zach, M. Bleyer and S. Bathiche, "MonoFusion: Real-time 3D reconstruction of small scenes with a single ...
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Which algorithms to locate a static 3D object relative to a moving camera/IMU?

I am using typical setup with camera and IMU as found on a smartphone. Using this, I would like to estimate the relative pose between the camera and an object (for simplicity, let's say a cube). The ...
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does anyone are familiar with ardrone's IMU?

I would like to present a visual-inertial navigation system based on ardrone2.0, so I need to calibrate jointly the forward-looking camera and the inertial measurement units. unfortunately, I don't ...
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Accuracy of monocular visual-inertial odometry

I am currently considering to use monocular visual-inertial odometry to localize a smartphone relative to a known object. Now, what I would like to understand, is what kind of accuracy I can expect ...
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Is pose estimation using images necessary in visual-inertial SLAM

In visual SLAM, pose estimation is performed between two adjacent frames or keyframes using feature detection and pose estitmation from corresponding features. However in visual-inertial SLAM, pose ...
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In practical terms, how close is the accuracy of camera-based visual odometry/SLAM methods to lidar-based methods for autonomous car navigation?

Benedict Evans, a general partner at Andreessen Horowitz, claims that “almost all autonomy” projects are using lidar for SLAM, and that not all of them use HD maps. An MIT group is testing self-...
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Transforming incremental pose from camera frame to wheeled robot base frame

I compute odometry using the stereo camera by minimizing reprojection error. I compute the incremental pose change between frames from time t-1 and t. The odometry is referenced to the left camera ...
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1answer
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SE3 composition operator gives unexpected results

Given Data and Algorithm I have a stream of SE3 poses supplied by a basic wheel encoder odometry through ROS message passing system. Odometry publishes data in traditional to ROS ENU coordinate frame ...
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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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Separated unscaled translation vector and scale for the ground truth poses of Kitti Odometry datasets

Kitti dataset provides Ground Truth Poses for its odometry datasets.However, can I acquire the unscaled-translation vector of the translation for which I can compute the scale myself? I want to ...
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1answer
132 views

Camera ego-motion estimation via dense optical flow

Help me please resolve some questions in the article 1) "A Robust Method for Computing Vehicle Ego-motion", Gideon P. Stein et al. According to this paper we can find three components of motion (...
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2answers
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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 ...
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Localisation using visual data in dynamic environment

Is there any visual localization methods (like visual odometry or SLAM) working stable in unknown environment and dealing with dynamic objects such as cars, bikes and so on? I want they (methods) must ...
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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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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 ...
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EKF based SLAM, marginalization and key-frames

I have a couple of tightly related questions regarding EKF-based visual SLAM. It is common in the Kalman based VSLAM litterature to marginalize 3d points and past poses. Condsidering the EKF as a ...
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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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1answer
672 views

Scale problem with monocular visual odometry

Is monocular visual odometry able to estimate relative scale? Say I have a sequence of 10 images that are taken on a single track each 1 m after the previous. Can some mono odometry method distinguish ...
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1answer
275 views

Pose-graph-slam:using only a camera

I'd like to know how to form my pose graph if the only information I have available is that from a camera, (1) What are my poses? Are they just the accumulated transformations from pairwise matching? ...
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1answer
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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 ...
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183 views

Visual SLAM for wheeled robot

I would appreciate your help for choosing the appropriate real-time SLAM algorithm. I am interested in having autonomous robot, thus a SLAM component is needed for autonomous navigation. The ...
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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 ...