rgbdslam: How to get transform between poses?

Hello,

I'm trying to learn more about the general concept of rgbdslam. Let's say I found a rigid body transformation (represented by a 4x4 matrix) between two consecutive frames (more precisely, between the feature sets of these, if I understand correctly) by using RANSAC, how can I use this to calculate the transformation that represents the change in pose between these two frames?

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It is the inverse. The features are in the respective coordinate frames of the camera positions. So a transformation that moves the features from the first camera coordinate system to the second moves the second camera pose to the pose where it was in the first frame.

Edit: Correction.

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But if the camera moves towards some features (so that they come nearer, their z values decrease), then the feature-transform would be one that moves every point in opposite z direction. But the position of the camera itself (seen from a global coord. sys.) would have moved forward in this example.

( 2012-06-01 08:42:55 -0500 )edit
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Yes, you are right, it is vice versa.

( 2012-06-03 06:09:58 -0500 )edit