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What is the preferred Visual Odometry package: viso2_ros or fovis_ros?

asked 2013-03-12 02:23:33 -0600

ee.cornwell gravatar image

updated 2016-10-24 09:10:05 -0600

ngrennan gravatar image

I've been experimenting with fovis and viso2 in order to acquire visual odometry using the Kinect and Phidgets IMU. I noticed that the parameters are pretty much the same for both packages. Can anyone tell me which one they prefer and why?

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Which works better for you?

joq gravatar imagejoq ( 2013-03-12 04:23:13 -0600 )edit

I'm getting better results from fovis_ros because it uses both depth and rgb. There are tf issues if you rely on the tf odom->base_link that fovis publishes. Errors arise if the messages are not perfectly in sync...

ee.cornwell gravatar imageee.cornwell ( 2013-03-12 10:05:24 -0600 )edit

Please report any bugs regarding fovis_ros here.

Stephan gravatar imageStephan ( 2013-03-12 10:14:40 -0600 )edit

I don't think the bug is in fovis_ros necessarily. The time stamp syncing between messages becomes delayed via a main launch file that launches every node for the robot. I believe this is the processor's fault. To compensate, I added a rate.sleep() in the odometer_base.hpp, increased the queue...

ee.cornwell gravatar imageee.cornwell ( 2013-03-12 18:00:00 -0600 )edit

...to 10 and changed how fast the WallDuration was requesting synchronization.

ee.cornwell gravatar imageee.cornwell ( 2013-03-12 18:03:05 -0600 )edit

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answered 2013-03-12 07:12:54 -0600

Stephan gravatar image

One of the main differences is that fovis_ros supports mono+depth input as well as stereo and viso2_ros supports mono and stereo (but no mono+depth). If you use just a kinect, you will likely get better results using fovis_ros as with viso2_ros you can only use the mono_odometer which has several drawbacks (needs features on the floor and needs to know pitch and height of camera). If you use a stereo camera you can try both algorithms and look which works best for you.

fovis_ros offers a little more introspection which eases the tuning of parameters (compare FovisInfo to VisoInfo). It also has keyframe selection built in. For viso2_ros we hacked a solution to prevent drift on top of the library which is not very well tested.

Long story short: If you have a kinect, use fovis_ros. If you have a stereo camera, try both and look what works best for you. If you have a mono camera, use viso2_ros.

Hope that helps!

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I actually started using ccny_rgbd and it has proved to be a nice complement to wheel encoder odometry. It is very lightweight which is desirable for my system and doesn't throw a lot of warnings and errors.

ee.cornwell gravatar imageee.cornwell ( 2013-04-17 18:51:24 -0600 )edit

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Asked: 2013-03-12 02:23:33 -0600

Seen: 1,824 times

Last updated: Mar 12 '13