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

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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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36 views

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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78 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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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
85 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
78 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 ...
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25 views

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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92 views

Conventions for pose covariance matrices?

I currently wonder how to output the uncertainty of pose estimates for a navigation software. There seem to be two main choices: Which reference coordinate frame external reference (world/map) or ...
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37 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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48 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 ...
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159 views

Sensor Fusion of Visual odometry (stereo and monocular) and IMU for 6D pose prediction

Let me explain slightly about what I am doing.I am trying to develop a SLAM implementation with the help of a stereo vision, IMU and possibly GPS at a later stage. Now, I have (1) a homogeneous ...
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75 views

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
532 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
155 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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154 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
3k 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 ...