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how to get the ground truth map from ORB_SLAM

asked 2016-05-09 02:51:20 -0500

xiqing gravatar image

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!!

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answered 2016-05-09 07:22:02 -0500

bart gravatar image

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.

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

xiqing gravatar image xiqing  ( 2016-05-12 03:54:42 -0500 )edit

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Asked: 2016-05-09 02:51:20 -0500

Seen: 484 times

Last updated: May 09 '16