viso2_ros stereo odometry performance

asked 2015-11-10 10:40:10 -0600

acajic gravatar image

updated 2015-11-11 08:01:29 -0600

I am using your ROS wrapper for libviso2. I made several tests and I am not really satisfied with the results. I recorded a video that is a quick indicator of the performance I am experiencing. Most of the relevant data is in the description below the video. Also in vidoe description there are results of the stereo_odometer in form of path trajectories in 3D space.

Currently, I am trying to decide "who to blame" for these results:

  1. Myself, bad parameters, camera calibration, stereo calibration
  2. The stereo camera I am using, I feel the left camera is slightly blurred
  3. LibViso algorithm and its insufficient capabilities, bad scene, bad lighting, lack of distant points...

Please, share your opinion. It would mean a great deal to me.

EDIT:

The resolution is (2*1280) x 720. The video is recorded at 60 fps. When I publish the video frames to ROS, I publish them at 1Hz. Although, I am not publishing every frame but every fifth frame instead.

As I said, a lot of extra info is in video description on YouTube.

Also, I added some keyframes with epipolar lines draw on top of them. The name of the image indicates which keypoint produced the epiline.

https://dl.dropboxusercontent.com/u/5... https://dl.dropboxusercontent.com/u/5... https://dl.dropboxusercontent.com/u/5... https://dl.dropboxusercontent.com/u/5... https://dl.dropboxusercontent.com/u/5... https://dl.dropboxusercontent.com/u/5... https://dl.dropboxusercontent.com/u/5... https://dl.dropboxusercontent.com/u/5...

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Comments

1

The cameras look well calibrated. Can you please tell us what is the image resolution and framerate? And what's the framerate of the output odometry (rostopic hz)?

Miquel Massot gravatar imageMiquel Massot ( 2015-11-11 05:50:41 -0600 )edit

Thank you for your comment, I updated the question.

acajic gravatar imageacajic ( 2015-11-11 06:27:38 -0600 )edit