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Covariance Matrix for the Measurement Model using a Camera

I'm currently taking an introductory course in Autonomous Systems where our project involves implementing the FastSLAM algorithm for an Alphabot2. This project uses a camera and Aruco markers as ...
13A 's user avatar
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Does ORB-Slam3 perform better than ORB-Slam2?

I was trying to compare ORB-Slam2 performace with ORB-Slam3 performance. Consider following comparison from ORB-Slam3 paper (columns with numbers correspond to different sequences from EuRoC dataset): ...
Mahesha999's user avatar
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65 views

rtab map mapcloud/mapData working but cloud_map is empty!

I'm trying to retrieve the pointclouds built from rtab map, im using gz garden with ros1 bridge to get my input topics. my launch file is : roslaunch rtabmap_ros rtabmap.launch depth_topic:=/slam/...
ash's user avatar
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1 vote
1 answer
260 views

Isaac ROS Nvblox Costmap Plugin For Nav2 Implementation Problems

I'm trying to use the Isaac Ros Nvblox package with a Realsense D455 depth camera to create a costmap for Nav2. Everything on the Nvblox side works, but I'm a little confused on how to use their ...
Braden Wagstaff's user avatar
0 votes
2 answers
19 views

Best VSLAM Algorithm for Outdoor Navigation

Hello, I am building an outdoor robot and would like to know what is the most suitable algorithm of visual SLAM for outdoor robot navigation using ROS. Originally posted by Nabil Miri on ROS Answers ...
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1 answer
3 views

Problem with Stereo ORB SLAM2 in ROS Creating Strange Transformations

Hi, I have recently started trying to use the ROS implementation of ROS ORB SLAM2 but have encountered an issue with it being very inaccurate and imprecise on the transformations. There are no ...
user avatar
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1 answer
2 views

VSLAM ROS Source Down?

I am unable to go to download the VSLAM ROS source code found here: https://code.ros.org/svn/ros-pkg/stacks/vslam/trunk Has it been removed or is the site just temporarily down? Originally posted by ...
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0 votes
1 answer
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VSLAM with ROS Kinetic

Is it possible that VSLAM will work with ROS Kinetic? If not, is there a simple tweak that could be made to source code to allow this? We want to integrate it with the ZED ROS Wrapper so we can ...
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1 answer
3 views

Integrate VSLAM with Atlas in DRCsim

Hello, I am new to using DRCSIM and Atlas, but through tutorials, I was able to get through the basics of configuring rviz, gazebo,and the worlds for the bot. Suppose I want to VSLAM with the Atlas in ...
user avatar
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1 answer
1 view

is there any benchmarks for comparing the methods of visual slam

I have studied the matlab code of Javier Civera's 1-point RANSAC for EKF MonoSLAM, but I find I am lack of some datasets to evaluate the visual slam system, because I don't have the powerful robot to ...
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1 answer
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Retrieving the uncertainty of a vertex in g2o

I am manipulating the tutorial_slam2d example in the g2o package. I would like to output the marginal uncertainty of each vertex. However, using the following code snippet produces results that don'...
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1 answer
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Getting vslam_tutorial.bag working on Fuerte

The "vslam_tutorial.bag" provided in this tutorial (http://www.ros.org/wiki/vslam_system/Tutorials/RunningVslamOnStereoData) is in Cturtle format. There is a fix suggested (migrating the bag ...
user avatar
0 votes
1 answer
6 views

no such option --rosdep-install

Hi all, I am attempting to install the source code modifiable version of VSLAM. I need to run "rosmake --rosdep-install vslam_system" and it fails with this error yglee@yglee-VirtualBox:~/...
user avatar
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1 answer
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Anyone have succeed to compile vslam package in electric?

Hi. I'm trying to use vslam packge in electric, however, it shows an error about "pcl" and "opencv" all the time. I even have installed all the dependencies that the vslam pkg ...
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1 answer
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vslam compilation error

Following is the error reported on rosmake in laser_slam. It is checked out from svn, Revision: 39215. I am building it on ROS electric, Ubuntu 10.04 Most errors are invalid conversion from 'const ...
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1 answer
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Technical details of the VSLAM package

Hi, Can anyone help me with the technical details of the VSLAM package? Like What feature matching techniques were used (in the VSLAM_SYSTEM package available in ROS), what was the main uncertainty ...
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0 votes
1 answer
13 views

Is this the right approach for modelling a simple scene in 3d out of 2 images?

I'm new in this field and I'm trying to model a simple scene in 3d out of 2d images and I dont have any info about cameras. I know that there are 3 options ( ): Or I have two images and I know the ...
user avatar
0 votes
1 answer
2 views

vslam algorithmic basis

Hi all! Regarding the vslam stack of ROS (http://www.ros.org/wiki/vslam), does anybody know what algorithms it uses for feature extraction, matching and so on? Is there any paper(s) I can read to ...
user avatar
0 votes
1 answer
4 views

performance of VSLAM

Hello all, Does anybody know why the VSLAM node in ROS doesn't perform too well when the robot is not moving exceptionally slow or while it takes a sharp turn? I know there are some limitations to ...
user avatar
0 votes
2 answers
1 view

ROS Answers SE migration: vslam future

Hi! As i could see in SVN - the vslam's latest edition was made 5 months ago. Does where any plans to continue development of this package? Thanks! Originally posted by noonv on ROS Answers with ...
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4 answers
2 views

How to generate map with hector_slam and Kinect

Has anyone successfully got the new hector_slam package to work with the Kinect yet? Below is the launch file I am using so far. ...
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1 answer
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vlsam rviz error

The command "rosrun rviz rviz -d --sync simple_vslam.vcg" worked very well before I upgrade my Ubuntu system. Now it just shows the errors: [ INFO] [1314796403.849753950]: Loading general ...
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0 votes
1 answer
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vslam: where is the file " current.rtc"?

I would like to run vslam on my own datasets, but it can not find the current.rtc. I checked the 'data' folder, no current.rtc inside. However, my stereo data runs smoothly on the ROS:vslam using the ...
user avatar
0 votes
1 answer
3 views

vslam, Running on Your Own Data

Hi all! I want to use the vslam package in diamondback for visual odometry. I made all the installation steps, downloaded the stereo tutorial data and tested. It works fine, but know i have some ...
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0 votes
1 answer
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ROS Answers SE migration: vslam beginner

Hello all, I am using vslam package first time. We have done 2D mapping gmapping to generate a static map. Now, our plan is to generate a 3D static map using a VSLAM. Is it possible to generate a ...
user avatar
0 votes
2 answers
4 views

vslam does not publish visual odometry data

The vslam seems to work fine for stereo stream but The topic /vo is advertised but it is not published , and i can see no output when i do : rostopic echo /vo So what might be wrong ? Originally ...
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1 answer
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vslam node crashes after some time

I am running vslam on a stereo image data set , i am sending the 4 topics synchronously and also all the images are rectified and undistorted .I can see the camera trajectory and the point cloud in ...
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0 votes
1 answer
2 views

Problems using the given bag in the vlsam-tutorial

Hello I've installed the vslam via sudo apt-get install ros-diamondback-vslam and tried to run the bag file given in the tutorial Tutorials/RunningVslamOnStereoData If is start the bag-file I only ...
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0 votes
1 answer
3 views

Stereovslam error :: Assertion `left_.tfFrame() == right_.tfFrame()'

After i publish my two left and right videos from stereo camera and run stereo_synchronizer node and stereo_image_proc node everything seems to go file but i get this error from stereo_vslam_node and ...
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0 votes
1 answer
2 views

trying to run vslam_system on mono video data

i am trying to run vslam_system[mono] on my video stream everything seems to go fine, but when the images are published on mono_vslam_node for processing , i get this , i guess the error has something ...
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0 votes
1 answer
3 views

How to use posest package in vlsam stack

Hi, I have been trying to estimate the camera pose change between two stereo pairs using the pe::PoseEstimator3d class in the posest package. I am using the vslam_tutorial.bag bag file in order two ...
user avatar
0 votes
1 answer
8 views

How to use a saved Octomap for Path Planning with Kinect

I am able to create very nice octomaps using kinect and rgbdslam detailed at the link below, but I do not understand how to use the saved map for path planning and the existing octomap and rgbdslam ...
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0 votes
1 answer
1 view

Running VSLAM on stereo data

I'm trying to run VSLAM on Stereo Data. When trying to roslaunch stereo_vslam.launch, I'm getting this error message cannot launch node of type [vslam_system/stereo_vslam_node] I suspect it has to do ...
user avatar
0 votes
2 answers
1 view

Monocular Vslam

I am unable to get vslam_system 's run_mono to work on the 3VD & Versailles Rond datasets. It says "Returning a small amount of good points: 0, minGoodPts = 30". Also after running SBA ...
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0 votes
5 answers
9 views

Solutions for visually aided 2D/3D SLAM for UAV with ROS

I've been wondering what possibilities are there to do visually aided 2D/3D SLAM for UAV in indoor settings with ROS. I've got an IMU talking to ROS, a Kinect sensor and two UVC cameras. What I ...
user avatar
0 votes
1 answer
3 views

Running vslam_system with stereo images via uvc_camera

I've been able to successfully install and run uvc_camera stereo_node. I can see published images with rviz, with data on following topics ...
user avatar
0 votes
1 answer
1 view

what techniques might improve vslam performance?

I have implemented the vslam_system and am in the process of testing it with some of my own data sets. I was wondering if there are any plans to improve the computational speed in the future. At the ...
user avatar
0 votes
1 answer
1 view

Vslam ubuntu packages not installing

I want to move from my Cturtle vslam installation to the diamondback version. After doing a sudo aptitude update and a sudo aptitude full-upgrade I try to install the ros-diamondback-vslam package ...
user avatar
0 votes
2 answers
9 views

vslam tutorial CameraInfo error

Hi all, I am running the vslam tutorial, I achieved to compile it but like other I got an error in the vslam-tutorial.bag $ rosbag play --clock /path/to/your/bag/vslam_tutorial.bag Client [/...
user avatar
0 votes
3 answers
2 views

VSlam error while running tutorial.bag

Hi all, I got this error while running vslam-tutorial.bag and of course it can't run [ INFO] [1298885315.414216976]: Opening vslam_tutorial.bag Waiting 0.2 seconds after advertising topics... done. ...
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0 votes
1 answer
1 view

What tf information does vslam_system need?

Hello, is there anyone that could tell me (or better update the tutorial ;) to explain precisely what are the tf requirements for vslam_system. The bag files seems to contain tf information but the ...
Thomas Moulard's user avatar
0 votes
3 answers
10 views

What packages provide visual odometry?

Is there a package that provides visual odometry aside from vslam? I found visodo but it has a missing/deleted dependency(vop). Originally posted by Homer Manalo on ROS Answers with karma: 475 on ...
user avatar
0 votes
3 answers
5 views

VSLAM based navigation with Kinect, where do I begin?

I'm interested in developing a robot (UAV) indoor navigation system basing on a MS Kinect (or Kinect-like, like the PrimeSense dev kit) sensor. I'm specifically interested in corridor following. I've ...
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0 votes
1 answer
1 view

vslam eigen and compile_error

Hello, I am trying to compile vslam as instructed but halting at some error mentioned below: Is there anything that i am suppose to make link to eigen3 externally? [rosmake-3] Finished <<< ...
user avatar