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vslam node crashes after some time .

asked 2011-06-29 16:35:04 -0500

rajat gravatar image

I am running vslam on a stereo image data set , i am sending the 4 topics synchronously and also all the images are rectified and undistorted .I can see the camera trajectory and the point cloud in rviz . but i have these 2 problems :

  1. The point cloud in rviz shows some random trajectory of camera somewhere in between .

  2. And after sometime the vslam node crashes saying. [Stereo VO] Inliers: 77 Nodes: 24 Points: 2484 [NormRot] Bad quaternion: -nan -nan -nan -nan

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I experienced that problem too. The trajectory goes haywire(especially when the camera makes a turn) and when the trajectory becomes too random the vslam node will crash.
ccm gravatar image ccm  ( 2011-07-03 17:54:35 -0500 )edit
exactly :( , but it 's strange that it works absolutely correctly with the bag data .
rajat gravatar image rajat  ( 2011-07-03 19:52:27 -0500 )edit
Try moving your camera very slowly. My trajectory connects when I move my machine at the speed of a snail.
ccm gravatar image ccm  ( 2011-07-05 13:21:57 -0500 )edit
i have some videos , i am not taking the feed from camera. , i split the whole thing into as many frames as possible and then also it's not working
rajat gravatar image rajat  ( 2011-07-05 22:26:32 -0500 )edit

2 Answers

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answered 2011-09-02 10:25:35 -0500

kwc gravatar image

The vslam node is experimental, so crashes will happen. ccm's comment is appropriate. Patches are welcome.

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answered 2011-09-02 10:52:35 -0500

Helen gravatar image

vslam is experimental research code. It is not actively being supported, but patches are welcome.

If you would like a robust method of localization and mapping with a stereo camera or kinect, use the 2D slam_gmapping stack. See the pointcloud_to_laserscan package from the turtlebot stack and the SLAM Gmapping with Kinect Tutorial for the turtlebot.

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Asked: 2011-06-29 16:35:04 -0500

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Last updated: Sep 02 '11