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vslam future

asked 2011-11-17 16:25:48 -0500

noonv gravatar image

Hi! As i could see in SVN - the vslam's latest edition was made 5 months ago. Does where any plans to continue development of this package? Thanks!

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answered 2011-11-17 16:33:26 -0500

Mac gravatar image

No.

The red-boxed warning on the wikipage is a pretty good clue.

Of course, patches are accepted, if you'd like to continue development. VSLAM has always seen a lot of interest; it just turns out that getting it work reliably, and in general, is extremely difficult.

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answered 2011-11-17 17:42:41 -0500

Divya gravatar image

On a slightly different note - do you guys know why exactly the current VSLAM package fails to do a good job when the robot is moving very fast/ taking very sharp turns?.. I only want to know why this happens on a conceptual level.

I am an undergraduate student and my project is to actually try and improve the performance of VSLAM!.. and I am new to ROS! I would be really grateful to you guys if you could help me out here!

I tried looking into the package files.. but its really tedious and hard to follow! I'm still working through them one by one!

Thanks!

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VSLAM works by tracking visual features in the image. When the camera is moving quickly, it gets hard to (a) calculate the features, because of blur (b) match the features, because the matching space is larger and (c) reconstruct motion, because (a) and (b) don't work as well.
Mac gravatar image Mac  ( 2011-11-18 00:50:21 -0500 )edit

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Asked: 2011-11-17 16:25:48 -0500

Seen: 202 times

Last updated: Nov 17 '11