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What packages provide visual odometry?

asked 2011-02-23 12:29:15 -0500

Homer Manalo gravatar image

updated 2012-03-23 13:49:29 -0500

Kevin gravatar image

Is there a package that provides visual odometry aside from vslam? I found visodo but it has a missing/deleted dependency(vop).

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answered 2012-03-22 23:28:33 -0500

Stephan gravatar image

We just released our ROS-Wrapper for libviso2, called viso2_ros. It contains nodes for monocular and stereo odometry. Every parameter from libviso2 can be set through ROS. Odometry information is published as nav_msgs/Odometry and geometry_msgs/PoseStamped as well as through a tf for easy visualization through rviz. Have a look at the corresponding ros wiki page for further information.

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I strongly encourage the use of viso2_ros. So far, it is the best visual odometry package I have found in ROS.

Thomas gravatar imageThomas ( 2012-03-29 05:39:16 -0500 )edit

Stephan, do you think it is possible to add the option replace=true as a ros parameter to set at running time? Is it even possible to set parameters without changing those in the program? If yes in which way? Thanks

Giuseppe gravatar imageGiuseppe ( 2012-04-05 01:18:34 -0500 )edit
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answered 2011-03-01 16:57:52 -0500

tfoote gravatar image

updated 2011-03-01 16:58:01 -0500

I don't believe there is a released package providing that functionality at the moment.

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Would this: (http://www.rainsoft.de/software/libviso.html) work with ros? Or is there anybody who had use it with ros perhaps?
Homer Manalo gravatar imageHomer Manalo ( 2011-03-03 00:12:39 -0500 )edit
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answered 2011-04-30 04:39:52 -0500

Kevin gravatar image

updated 2012-02-18 02:52:05 -0500

Okay ... I have it working, but it is not complete at this point [16 Feb 2012]. I have the mono camera up and running but haven't started on the stereo yet. Feel free to take a look at my github of libviso2. I will improve it over time.

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It would be great if you did. To make sure no one else is working on it already it'd be safer to drop a line on pcl-users@code.ros.org and ros-users@code.ros.org.
tom gravatar imagetom ( 2011-05-04 23:46:45 -0500 )edit
Hi! I'm working in visual odometry, did you make the ROS node for libviso? or how did you resolve the Visual Odometry problem?
jrcapriles gravatar imagejrcapriles ( 2011-09-09 02:19:54 -0500 )edit

The code looks great. I'll try it out today with some cameras I have. Thanks!

Thomas D gravatar imageThomas D ( 2012-02-18 03:54:55 -0500 )edit
1

Thomas, let me know how it goes for you

Kevin gravatar imageKevin ( 2012-02-18 16:09:58 -0500 )edit

It was easy to get running for the monocular case.

Thomas D gravatar imageThomas D ( 2012-02-19 04:31:18 -0500 )edit

@Kevin, if I have changes I'd like to see in your nodes, do you want me to just push them up?

Thomas D gravatar imageThomas D ( 2012-02-25 09:24:22 -0500 )edit

sure ... thanks!

Kevin gravatar imageKevin ( 2012-02-25 10:02:55 -0500 )edit

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Asked: 2011-02-23 12:29:15 -0500

Seen: 5,957 times

Last updated: Apr 05 '12