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Are there any good visual odometry nodes that play well with ARM? I have an Xtion Pro Live, an Odroid U3, and an itch to make them play together. viso2 requires SSE and ccny_rgbd_tools has yet to be converted to a wet package (not that this is a huge issue). svo caught my eye, but it claims that it's not currently well-suited to forward motion. Has anyone had any success on this front?
Hello,
I have tried various visual odometry solutions on the Jetson TX1 (Quad-core ARM Cortex-A57 CPU). I have used (in no specific order):
All of these work on the Jetson with reasonable frame-rates and accuracy. For completeness sake here are my scrap notes for building, but as mentioned if there is an appropriate place to detail these correctly, I will.
I am using rgbd_odometry node from rtabmap along with an accurate IMU data fused with the help of robot_pose_ekf. It is giving me very good results from translatory motion. Rotatory motion is also good for slow rotation but not very accurate for fast rotations.
It looks like this might be an option:
They're both the same package, but the second link is "a slimmed down version of the code that does not have the bundle adjustment." On an ODROID U3, it was definitely maxing out one of my cores. As I recall, I couldn't get it to register linear motion, but I may have been doing something wrong.
Asked: 2014-11-12 16:39:46 -0500
Seen: 2,935 times
Last updated: Jul 13 '16
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Have you managed to run ccny_rgbd on the Odroid? I'm trying to do the same.
I think I may have, but it didn't work out for one reason or another. I want to try rtabmap as @Bhargav suggested. It uses very little CPU on my laptop, so perhaps my ARM board will get away with it.
Thanks for the information. Do let me know if rtabmap works well for you - I'll try meddling with it then. Also, (sorry for digressing), would you happen to know how to configure the tf tree for ccny_rgbd?
Your robot_localization packages looks pretty cool. I shall try it out once I have a map to use it on!
I'm afraid I don't recall much about
ccny_rgbd. Also, my package name is a bit misleading - it's really for doing pose estimation through sensor fusion (no map required).Hi Tom, I have been trying to use rtabmap - it compiles fine on my laptop, but I am unable to compile it on my Odroid. Also, no luck finding the binary for apt-get. Have you seen otherwise?
Sorry, my ARM stuff is really a side project, and I haven't had much time to devote to it. Why does it fail to build? Does it use SSE?