# Questions tagged [visual-odometry]

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

20 questions with no upvoted or accepted answers
Filter by
Sorted by
Tagged with
77 views

### Performing Image alignment using pyramid levels with semi dense depth

To gain some confidence, I want to implement the camera tracking (optimization problem) discussed in Semi Dense Visual Odometry for a monocular cameraJ Engel, J Strum, D Cremers E(\xi) = \underset{i}...
177 views

### How to publish odometry from 3 wheeled omnidirectional robot?

I'm new to ROS and robotics and I'm trying to implement the ROS navigation stack in a 3 wheeled omnidirectional robot. I already made the map using RTABMap but now I'm stuck in the 'Publishing ...
40 views

### Accuracy of monocular visual-inertial odometry

I am currently considering to use monocular visual-inertial odometry (VIO) to localize a smartphone relative to a known object. Now, what I would like to understand is, what kind of accuracy I can ...
74 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 ...
86 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 ...
254 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 ...
40 views

### How does inverse compositional Lucas–Kanade algorithm work?

I am trying to understand the Lucas–Kanade algorithm since I am reading a paper in which is applied the inverse compositional Lucas–Kanade algorithm, but in order to understand the latter I have to ...
123 views

### What is the definition of the phrase “ego robot”?

What does the phrase "ego robot" mean? I see it used in the context of multi robot systems like in the paper Game Theoretic Motion Planning for Multi-robot Racing by Zijian Wang, Riccardo Spica & ...
77 views

### 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 ...
332 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 (...
114 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, ...
176 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 ...
51 views

### Relative scale problem

I am doing Monocular Visual Odometry, and I have problem with relative scale. Most of the time its value is between 0.8-1.1, but sometimes it goes crazy and it has value 3,4 and once it had value 25. ...
55 views

### Pose-Graph Optimization in MATLAB does not give expected results

I am trying to optimize a pose graph I created in MATLAB using either the optimizePoses(viewSet)-function on the imageViewSet that I have or the ...
16 views

### How can we estimate reliable angular motion from a monocular camera?

While I am working on a project, a question comes to my mind; how can we estimate reliable angular motion from a monocular camera, just for a typical indoor environment within a few seconds? So to ...
29 views

### Setting An Initial Pose Rotation In ORB SLAM2

I am running ORB SLAM 2 on a drone with a downward facing, RGBD camera. I'm using Gazebo to simulate and Rviz to see the vision_pose ROS topic (the orientation/...
455 views

### What does the normalized image coordinates imply?

In VSLAM or visual odometry, we use a camera matrix P to transform 3D scene points to 2D image points. When using homogeneous representation, we may choose the image coordinates as the normalized ...
75 views

### Planar Robot Boundary Detection

I am tasked with building a robot that needs to localise and navigate itself on a rectangular surface (like a large desk). The rectangle's shorter sides will be marked with a red tape (or with two ...