What packages provide visual odometry?

asked 2011-02-23 12:29:15 -0500

Homer Manalo
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updated 2012-03-23 13:49:29 -0500

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Is there a package that provides visual odometry aside from vslam? I found visodo but it has a missing/deleted dependency(vop).

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answered 2012-03-22 23:28:33 -0500

Stephan

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We just released our ROS-Wrapper for libviso2, called viso2_ros. It contains nodes for monocular and stereo odometry. Every parameter from libviso2 can be set through ROS. Odometry information is published as nav_msgs/Odometry and geometry_msgs/PoseStamped as well as through a tf for easy visualization through rviz. Have a look at the corresponding ros wiki page for further information.

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I strongly encourage the use of viso2_ros. So far, it is the best visual odometry package I have found in ROS.

Thomas ( 2012-03-29 05:39:16 -0500 )edit

Stephan, do you think it is possible to add the option replace=true as a ros parameter to set at running time? Is it even possible to set parameters without changing those in the program? If yes in which way? Thanks

Giuseppe ( 2012-04-05 01:18:34 -0500 )edit

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answered 2011-03-01 16:57:52 -0500

tfoote

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updated 2011-03-01 16:58:01 -0500

I don't believe there is a released package providing that functionality at the moment.

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Would this: (http://www.rainsoft.de/software/libviso.html) work with ros? Or is there anybody who had use it with ros perhaps?

Homer Manalo ( 2011-03-03 00:12:39 -0500 )edit

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answered 2011-04-30 04:39:52 -0500

Kevin

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updated 2012-02-18 02:52:05 -0500

Okay ... I have it working, but it is not complete at this point [16 Feb 2012]. I have the mono camera up and running but haven't started on the stereo yet. Feel free to take a look at my github of libviso2. I will improve it over time.

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It would be great if you did. To make sure no one else is working on it already it'd be safer to drop a line on pcl-users@code.ros.org and ros-users@code.ros.org.