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RGBDSLAM errors [closed]

asked 2016-03-14 16:19:27 -0500

goupil35000 gravatar image


Currently I work on RGBDSLAM on Ubuntu 13.04 (ROS indigo) but I have some problems.

When saving SIFT descriptors in YAML format (Features menu), I find 2 types of problems: - 10% of descriptors have duplicate points (same x,y,z) but completely different descriptor; - some descriptors contain one or multiple (up to 128) NaN for a descriptor. It seems also at least the previous descriptor of a descriptor which contains NaN is completely wrong.

Maybe I have done something wrong when capturing multiple images ?

Do someone already find these kinds of errors ? In which conditions appear NaN in descriptor ?

Thanks for help.

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2017-04-20 14:58:11.113713


I assume you are using rgbdslam_v2? Is it SIFT or SIFTGPU? Could you post a small example from the yaml file you get? The yaml export was written for a specific use case, so it's not well tested in general. It should work, but it's possible that this is just a bug in the export code. How is the map?

Felix Endres gravatar image Felix Endres  ( 2016-03-21 05:42:29 -0500 )edit

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answered 2016-03-17 08:28:49 -0500

goupil35000 gravatar image


I have to bring an important info about the number (10%) of duplicate descriptors: I took the 3D representation using a robot which rotate by 2° each time and wait for stabilization of the robot. So I took 180 RGB-D images to reconstruct the environment. Maybe the problem come from here ? Too much images ?


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Hi, first what kind of sensor are you applying? By the other hand there is a really great package based on RGB-D SLAM check it RTAB-Map, I used it to make SLAM with a handheld kinect and works well

jcardenasc93 gravatar image jcardenasc93  ( 2016-03-18 19:16:08 -0500 )edit

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Asked: 2016-03-14 16:19:27 -0500

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Last updated: Mar 17 '16