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Visual odometry: low numbers of inlier (viso2/fovis)

Hello everyone,

Im trying to use viso2_ros (or fovis_ros) for stereo visual odometry. Let's start from the beginning: i have a stereo rig with 2 Photonfocus MV1-D1312-40-GB-12 cameras with Pentax 6.5mm f/1.8 lenses Stereo rig

Lens

The camera are not synchronized, and the distance between them is around 18cm.

I calibrated the cameras using the camera_calibration ROS node:

Camera calibration

I tried to run visual odometry indoor and outdoor, using viso2 and fovis.

This is the disparity image from the stereo_image_proc, and it looks good to me: Disparity

But i always got "visual odometry got lost" or "insufficient inlier", specially during turning. I tryed to change the visual odometry parameters in many ways without improvements.

This is a screenshot from the /stereo_odometer/info topic during turning:

viso2 info topic

I also noticed that the runtime is pretty high (between 0.3 and 0.8s).

Using fovis, the runtime is much better, but i often got "insufficient inlier".

What can be the problem? the cameras synchronization? the network speed? the calibration?

Configuration:

Ubuntu 14.04

ROS Indigo

PS: Sorry for my bad english, this is my first post, if something is not clear, let me know.

Visual odometry: low numbers of inlier (viso2/fovis)

Hello everyone,

Im trying to use viso2_ros (or fovis_ros) for stereo visual odometry. Let's start from the beginning: i have a stereo rig with 2 Photonfocus MV1-D1312-40-GB-12 cameras with Pentax 6.5mm f/1.8 lenses Stereo rig

Lens

The camera are not synchronized, and the distance between them is around 18cm.

I calibrated the cameras using the camera_calibration ROS node:

Camera calibration

I tried to run visual odometry indoor and outdoor, using viso2 and fovis.

This is the disparity image from the stereo_image_proc, and it looks good to me: Disparity

But i always got "visual odometry got lost" or "insufficient inlier", specially during turning. I tryed to change the visual odometry parameters in many ways without improvements.

This is a screenshot from the /stereo_odometer/info topic during turning:

viso2 info topic

I also noticed that the runtime is pretty high (between 0.3 and 0.8s).

Using fovis, the runtime is much better, but i often got "insufficient inlier".

What can be the problem? the cameras synchronization? the network speed? the calibration?

Configuration:

Ubuntu 14.04

ROS Indigo

PS: Sorry for my bad english, this is my first post, if something is not clear, let me know.

Visual odometry: low numbers of inlier (viso2/fovis)

Hello everyone,

Im trying to use viso2_ros (or fovis_ros) for stereo visual odometry. Let's start from the beginning: i have a stereo rig with 2 Photonfocus MV1-D1312-40-GB-12 cameras with Pentax 6.5mm f/1.8 lenses Stereo rig

Lens

The camera are not synchronized, and the distance between them is around 18cm.

I calibrated the cameras using the camera_calibration ROS node:

Camera calibration

I tried to run visual odometry indoor and outdoor, using viso2 and fovis.

This is the disparity image from the stereo_image_proc, and it looks good to me: Disparity

But i always got "visual odometry got lost" or "insufficient inlier", specially during turning. I tryed to change the visual odometry parameters in many ways without improvements.

This is a screenshot from the /stereo_odometer/info topic during turning:

viso2 info topic

I also noticed that the runtime is pretty high (between 0.3 and 0.8s).

Using fovis, the runtime is much better, but i often got "insufficient inlier".

What can be the problem? the cameras synchronization? the network speed? the calibration?

Configuration:

Ubuntu 14.04

ROS Indigo

PS: Sorry for my bad english, this is my first post, if something is not clear, let me know.

EDIT 07/09/2015: I implemented a software synchronization of the two cameras by changing the ROS camera driver, now the visual odometry seems to go better, but the computation still take too long, probably i should reduce the resolution of the cameras.

Visual odometry: low numbers of inlier (viso2/fovis)

Hello everyone,

Im trying to use viso2_ros (or fovis_ros) for stereo visual odometry. Let's start from the beginning: i have a stereo rig with 2 Photonfocus MV1-D1312-40-GB-12 cameras with Pentax 6.5mm f/1.8 lenses Stereo rig

Lens

The camera are not synchronized, and the distance between them is around 18cm.

I calibrated the cameras using the camera_calibration ROS node:

Camera calibration

I tried to run visual odometry indoor and outdoor, using viso2 and fovis.

This is the disparity image from the stereo_image_proc, and it looks good to me: Disparity

But i always got "visual odometry got lost" or "insufficient inlier", specially during turning. I tryed to change the visual odometry parameters in many ways without improvements.

This is a screenshot from the /stereo_odometer/info topic during turning:

viso2 info topic

I also noticed that the runtime is pretty high (between 0.3 and 0.8s).

Using fovis, the runtime is much better, but i often got "insufficient inlier".

What can be the problem? the cameras synchronization? the network speed? the calibration?

Configuration:

Ubuntu 14.04

ROS Indigo

PS: Sorry for my bad english, this is my first post, if something is not clear, let me know.

EDIT 07/09/2015: I implemented a software synchronization of the two cameras by changing the ROS camera driver, now the visual odometry seems to go better, but the computation still take too long, probably i should reduce the resolution of the cameras.

Visual odometry: low numbers of inlier (viso2/fovis)

Hello everyone,

Im trying to use viso2_ros (or fovis_ros) for stereo visual odometry. Let's start from the beginning: i have a stereo rig with 2 Photonfocus MV1-D1312-40-GB-12 cameras with Pentax 6.5mm f/1.8 lenses Stereo rig

Lens

The camera are not synchronized, and the distance between them is around 18cm.

I calibrated the cameras using the camera_calibration ROS node:

Camera calibration

I tried to run visual odometry indoor and outdoor, using viso2 and fovis.

This is the disparity image from the stereo_image_proc, and it looks good to me: Disparity

But i always got "visual odometry got lost" or "insufficient inlier", specially during turning. I tryed to change the visual odometry parameters in many ways without improvements.

This is a screenshot from the /stereo_odometer/info topic during turning:

viso2 info topic

I also noticed that the runtime is pretty high (between 0.3 and 0.8s).

Using fovis, the runtime is much better, but i often got "insufficient inlier".

What can be the problem? the cameras synchronization? the network speed? the calibration?

Configuration:

Ubuntu 14.04

ROS Indigo

PS: Sorry for my bad english, this is my first post, if something is not clear, let me know.

EDIT 07/09/2015: I implemented a software synchronization of the two cameras by changing the ROS camera driver, now the visual odometry seems to go better, but the computation still take too long, probably i should reduce the resolution of the cameras.