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Results tagged with visual-odometry
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user 15265
visual odometry is the process of determining the position and orientation of a robot by analyzing the associated camera images.
4
votes
Accepted
Problem understanding a paper about visual odometry
So SVO works a bit differently then other VO systems as it uses dense image alignment. You need to understand this concept first before understanding SVO. Look up Lucas and Kanade image alignment. The …
- 1,901
6
votes
Accepted
Marginalization vs Dropping states for sliding window VO
Short answer: Marginalization is a fancy way of applying a prior on certain nodes of your factor graph.
Note that Marginalization vs Dropping data is not only specific to the sliding window case, but …
- 1,901
2
votes
Accepted
How to derive the camera trajectory from ICP
Yes that is correct. Easiest way is probably to work with the homogeneous 4x4 Tranform Matrix($T$) composed of $\begin{bmatrix}R & t\\0 & 1\end{bmatrix}$. Then your new pose is then just $T_i$ multipl …
- 1,901
1
vote
Accepted
Mono VIO vs. Stereo-Camera to recover Depth Information
You are basically describing an object 3D-reconstruction device. Though usually they use a turntable and fixed camera, but the principle is the exact same. See how this dataset were created. I also kn …
- 1,901
4
votes
Accepted
Visual Odometry terminology: Scale, Relative scale, absolute scale
What does the absolute scale mean? In this context, scale refers to
what property related to an image?
Essentially scale refers to the size of the object/scene that the camera sees.
As a projective …
- 1,901
2
votes
How can I calibrate 3 cameras without knowing global pose of the object & camera locations? ...
The process you need to go through is actually similar to the camera calibration procedure in OpenCV or other software. The chessboard is replaced by your robot, and you can skip the intrinsic estimat …
- 1,901
1
vote
Understanding reprojection error / visual residual in ORB-SLAM3
I agree with you it is not the best notation.
Regarding your understandings.
Is correct. It is Transform from the camera frame to the IMU/Body Frame.
$T_i$ does not involve the camera. You can look u …
- 1,901
4
votes
Calculate information matrix for graph slam
The information matrix is just the inverse of the covariance matrix.
I recommend you read the page I linked, or just google covariance matrix. Essentially it contains how certain you are in your measu …
- 1,901