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viso2_ros covariance matrix and robot_pose_ekf

asked 2013-12-11 22:13:49 -0600

IvanV gravatar image

Hi,

We want to use viso2_ros package with a Bumblebee camera to perform visual odometry and feed it to the robot_pose_ekf.

robot_pose_ekf requires covariance matrices to be published in the odometry it receives, giving an error if the input covariance is zero. In the documentation of viso2_ros it says that covariance matrices are not publised, so we are unsure if it will be possible to combine viso2_ros with robot_pose_ekf.

In other answer (answers.ros.org/question/34323/viso2_ros-and-robot_pose_ekf/), it is suggested to use it directly (publishing viso2_ros/odometry to robot_pose_ekf/vo), but according to documentation this shouldn't work, as viso2 doesn't publish covariance matrices and following coments in the answer are not conclusive on the results. We have been unable to test it ourselves yet since we are still setting up everithing.

Before continuing, we would like to know if anyone has used viso2_ros with robot_pose_ekf with success and how have they done it. Also, has anyone estimated the covariances for the viso2_ros process, to insert them manually in the published topic?

Thank you and best regards,

Ivan.

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answered 2013-12-28 12:11:23 -0600

Miquel Massot gravatar image

libviso2 does not provide a covariance matrix in the code. In our wrapper we're publishing fixed value covariance matrices, but they've not been tested with robot_pose_ekf. Look here: https://github.com/srv/viso2/blob/fuerte/viso2_ros/src/stereo_odometer.cpp#L23

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answered 2016-04-27 10:21:38 -0600

Hi,Mr IvanV ,I would appreciate it to know that how do you set the covariance matrices of VISO2 ? is there any reference material? thank you

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If I remember correctly, we ended republishing odometry adding by hand a covariance matrix pretty similar than the ones in the code linked by Miquel.

I'm sorry I can't give you more details right now. It was a proyect ended two years ago and I don't have the code accesible right now.

IvanV gravatar imageIvanV ( 2016-04-28 01:59:37 -0600 )edit

Thank you for your advice.

Zuojiaxing gravatar imageZuojiaxing ( 2016-04-28 03:29:35 -0600 )edit

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Asked: 2013-12-11 22:13:49 -0600

Seen: 520 times

Last updated: Dec 11 '13