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Results tagged with visual-odometry
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user 19219
visual odometry is the process of determining the position and orientation of a robot by analyzing the associated camera images.
1
vote
Accepted
Why do strong rotations affect Monocular Vision based Visual Odometry?
The problem of the pure strong rotation is that the image will become easily blurred unless you use 1000FPS camera. This kind of super-strong rotation often occurs in hand-held camera motion. Simply t …
- 1,577
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Difference between motion-only bundle adjustment and pose-graph optimization
In my opinion, they are meaninglessly different. On the backside of all these names BA, motion only BA, pose-graph optimization, batch optimization, what they do is simply optimize the device trajecto …
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0
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Which algorithms to locate a static 3D object relative to a moving camera/IMU?
You need a SLAM to track the object location.
There are some available resources on visual-inertial SLAM. To name some of them, okvis, svo2, orb-slam2 and so on.
If you hire a good slam, error wi …
- 1,577
2
votes
Scale estimation in datasets for monocular odometry
The absolute scale cannot be estimated if you are utilizing a monocular camera. Either you add an additional sensor information such as IMU or you need a size known object to be in your dataset.
As K …
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2
votes
Accepted
How to plot the 3D camera trajectory from a VSLAM output
That's simple.
If you use matlab or opengl what you need to do is just drawing 3 axis at (tx,ty,tz).
You need to convert quaternion to rotation matrix.
(qx,qy,qz,qw) -> R(3x3 matrix)
where each col …
- 1,577
0
votes
SLAM techniques based on contact, odometry and one front camera
There countless implementations for the camera-only methods. Have a look at the following SLAM codes or demo videos.
EKF-SLAM
ORB-SLAM
LSD-SLAM
Structure from motion
VITAMIN-E https://www.youtube …
- 1,577
1
vote
Relative scale problem
Does inliers and outliers have something to do with this problem?
-> Yes, your odometry estimation error will be accumulated in the point cloud and it will eventually end up what you are experiencing …
- 1,577
1
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In practical terms, how close is the accuracy of camera-based visual odometry/SLAM methods t...
In other words, could this difference noticeably impact safety or reliability? -> not at all in my opinion.
What important in autonomous car navigation is localization stability rather than the odome …
- 1,577
0
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Is pose estimation using images necessary in visual-inertial SLAM
The typical way of doing visual-inertial SLAM is to create a short accumulated trajectory from IMU and correcting it by visual observation. The pose estimation by the images wouldn't be performed but …
- 1,577
2
votes
What's the difference between factor graph optimization and bundle adjustment?
The simplest explanation will be:
In structure from motion, it estimates structure(xyz points), camera locations, camera intrinsic.
In graph optimization, it only estimates camera locations. In the …
- 1,577