Comments (20)
I know what's the reason now.
orbslam will use the velocity of last 2 frames, this influence may be remained after changing a direction, so I just remove the utilizing of velocity, and it works well.
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Hi @liqile
I notice the same problem, can you tell me what kind of changes you done?
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hi @Gingol
in the source file "Tracking.cc"
, you can find the function
void Tracking::GrabImage(const sensor_msgs::ImageConstPtr& msg)
on the line 229~236, you can find following code:
229: if(!mbMotionModel || mpMap->KeyFramesInMap()<4 || mVelocity.empty() || mCurrentFrame.mnId<mnLastRelocFrameId+2)
230: bOK = TrackPreviousFrame();
231: else
232: {
233: bOK = TrackWithMotionModel();
234: if(!bOK)
235: bOK = TrackPreviousFrame();
236: }
what I have done is that to change the code above to following:
bOK=TrackingPreviousFrame();
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@Gingol
you can try to combine orb slam with imu, this may also deal with that problem
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@Gingol do you have QQ?
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- I've tried to change the code like you said but it doesn't work. After a turning the distance between the poses of the camera in rviz are very small or in some cases it seems that the camera doesn't move at all.
- In our project we want to use only the camera.
- No I haven't QQ.
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@Gingol what's the number of features in your proj.? I set the feature amount to 8000
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@liqile I kept the default number 1000.
Can you tell me which camera and which lens you are using?
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@Gingol
720 x 1280
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@Gingol
can you give me your ros bag with the camera calibration?
[email protected]
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@Gingol
I think you can use the camera on your iphone
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Hello @liqile,
You mentioned combining Orbslam with an IMU. How do you propose to implement that, perhaps with a Kalman filter?
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@Oblynx the easiest the approach would be to replace the constant velocity motion model with imu motion model.
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@versatran01 Can you elaborate on how we can do that?
Would metric scale estimation be possible with such a approach?
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I am also facing the same problem . Has anyone come up with a solution .I donot have the IMU in my case.
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@shabhu18
hi, I think you can take utilization of a new camera. I used the camera on a xiaomi phone , and it worked well
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@mhkabir To start with, you could just integrate the inter-frame gyro readings as the guess of inter-frame rotation. The accelerometer readings are probably too noisy to estimate translation.
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@liqile hello, about your comment here:
#######
"in the source file "Tracking.cc", you can find the function
void Tracking::GrabImage(const sensor_msgs::ImageConstPtr& msg)
on the line 229~236, you can find following code:
229: if(!mbMotionModel || mpMap->KeyFramesInMap()<4 || mVelocity.empty() || mCurrentFrame.mnId<mnLastRelocFrameId+2)
230: bOK = TrackPreviousFrame();
231: else
232: {
233: bOK = TrackWithMotionModel();
234: if(!bOK)
235: bOK = TrackPreviousFrame();
236: }
what I have done is that to change the code above to following:
bOK=TrackingPreviousFrame(); "
#######
how did you observe this line was in charge of the model velocity? and how did this velocity been determined? could you please give me some hints? i still could't find out how the scale of map been calculated. thx
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Hi @mhkabir, did you end up looking in to changing the velocity motion model? I've experimented the combinaition of ORB_SLAM with MSF but the results are still inconclusive.
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@AlexandreBorowczyk No, I gave up on it. Rolled our own visual-inertial odometry system.
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