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Questions tagged [visual-odometry]

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What is the unit of distanceThresh in OpenCV's recoverPose function?

I have been working on Visual Odometry and using OpenCV's recoverPose function to decompose the Essential Matrix into a rotation matrix and translation unit vector. int cv::recoverPose(InputArray E, InputArray …
Milan
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How can I estimate camera poses between sequential equirectangular images?

I have been reading about this issue for the past couple of weeks now, going over research papers and finding several equations but to no avail. Here is what I understand so far: Feature matching is done on X, Y plane of equirectangular images…
Loay Altal
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Which framework(s) to use for estimating and evaluating camera trajectories on KITTI data using keypoints / interest points?

I have a keypoint detector and descriptor and want to evaluate it against several other descriptors using monocular KITTI image sequences. Therefore, I need a framework that will take the keypoints and respective descriptors of my algorithm and…
Toni
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Obtain translation vector from three frames and a common 3D point

I am using OpenCV for visual odometry. I have a video of a road taken from a monocular camera mounted on a moving car. I would like to obtain the translation vectors between frames. What I have done so far: I obtained matches of keypoints between…
tomtom
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Are ORB feature descriptors get affected if the keypoints were detected through image bucketing (i.e. dividing image into subimages)?

I've been working on a visual odometry project and in this article, it says: Another thing that we do in this approach is something that is called “bucketing”. If we just run a feature detector over an entire image, there is a very good chance that…
Milan
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How to "rotate" a calculated pose (1x7 position and quaternion) to a desired frame of reference?

Using a monocular SLAM pipeline, I can compute the absolute pose of my camera with respect to an origin (I assume it lies at the center of the camera). Furthermore, the camera undergoes rigid body motion on the mobile base on which the camera is…
Azmyin Md. Kamal
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How to find the focal and the pp parameter in opencv for a smartphone video?

Hello I want to developp a Visual odometry app for Smartphone. I already created a working pipeline using kitty dataset. Now I wasn't able to make it work with a video I took using my smartphone (Galaxy S22+). I need the intrinsic parameters which…
DeDeL k
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RTAB Map dies with code -11 when run using two web cameras

We are running RTAB map with two web cameras with the following launch file.