ROS Answers: Open Source Q&A Forum - RSS feedhttps://answers.ros.org/questions/Open source question and answer forum written in Python and DjangoenROS Answers is licensed under Creative Commons Attribution 3.0Thu, 31 Jul 2014 11:05:29 -0500How to calculate covariance matrix for monocular SLAM?https://answers.ros.org/question/188481/how-to-calculate-covariance-matrix-for-monocular-slam/Hi there,
I am using a single camera for visual odometry. The camera is fixed to the robot and I use the common approach of matching descriptors between consecutive frames and then estimating the rotation and translation using SVD. The camera is already calibrated and I already have the points in 3D position.
From the rotation matrix and the translation matrix I can obtain the the rotation angles and the new position x,y,z of the robot.
My question then is: How can I estimate the covariance matrix for theses values in order to publish an nav_msgs::Odometry matrix? I suspect that I have to backpropagate the points from one frame to the other, but I am not sure. Any references to papers/books are also welcome =)
Thanks in advance,
PedroPedroGusmaoThu, 31 Jul 2014 11:05:29 -0500https://answers.ros.org/question/188481/