ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Obtain covariance of pose estimation from ORB-SLAM2

asked 2019-10-10 07:17:42 -0600

mmunster gravatar image

Hi there,

I am trying to fuse pose estimation data obtained from ORB-SLAM2 with IMU data using the robot_localization package.

However, this package requires the pose estimation to be provided according to the geometry_msgs/PoseWithCovarianceStamped message type. I know how to obtain the pose estimation from ORB-SLAM, is there a way to get the covariance that corresponds to this pose estimation?

Thanks in advance!

edit retag flag offensive close merge delete


Thanks for the answer! In that case I'll indeed use trial and error.

mmunster gravatar image mmunster  ( 2019-10-10 08:51:26 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2019-10-10 07:56:47 -0600

Choco93 gravatar image

ORB-SLAM doesn't provide covariance, for such case you will have to try hit and trial

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2019-10-10 07:17:42 -0600

Seen: 420 times

Last updated: Oct 10 '19