Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

how to get the ground truth map from ORB_SLAM

asked 2016-05-09 02:51:20 -0600

xiqing
1 ●10 ●13 ●13

Hi,

I want to get the map scale form the map which is build by ORB_slam2. Example, there are two camera center kp1(x1-coordinate,y2-coordinate) , kp2(x2-coordinate,y2-coordinate), then i will know the distance between kp1 and kp2( in coordinate). But what's the real distance(m)(in the real word)? i think i need to get the scale between coordinate and meter. But i don't know where is the map scale in the ORB_slam2 code(now I am a rookie ...). Could you tell me how to get the real map?? thank you very much!!

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2016-05-09 07:22:02 -0600

bart
16 ●1 ●1 ●1

Are you using Monocular, RGBD or Stereo algorithm? ORBslam2 comes with the three approaches implemented. From a theoretical point of view, if you are using monocular approach, the map that you will obtain is not metric.

edit flag offensive delete link

Comments

Is that mean that i couldn't get the distance(m) if using monocular approach? What about the stereo algorithm??

xiqing ( 2016-05-12 03:54:42 -0600 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2016-05-09 02:51:20 -0600

Seen: 841 times

Last updated: May 09 '16

how to get the ground truth map from ORB_SLAM edit

1 Answer

Comments

Question Tools

Stats

Related questions

how to get the ground truth map from ORB_SLAM