Comments (1)
Hi,
Thanks for your feedback. As explained in the main README, the script main_vo.py
is a first start to understanding the basics of inter-frame feature tracking and camera pose estimation (there is no triangulation and mapping there). You cannot use it without a ground truth. Not sure about the results you are getting.
Pure rotations do break monocular VO/SLAM (such as pyslam). Indeed, pure rotations prevent triangulation, so no new map points if you look at unexplored/unmapped areas. That means, no map no tracking.
Low-light condition is another great challenge for indirect (feature-based) tracking. Many SLAM systems have a difficult time to track in such conditions. In some cases, direct (based on photometric error) tracking (or a mixed approach) can give you a more robust performance.
Unfortunately, I didn't yet have time to identify the BEST brutal force SLAM configuration. It's a work in progress. Feature selection is just a part of the full system. There are many other parameters to tune. As you may know, SLAM systems are complex.
Please, consider that pyslam is a playground to test local features within a VO/SLAM system. You can have fun yourselves by testing, tweaking, and improving. Let me know.
Cheers,
Luigi
from pyslam.
Related Issues (20)
- main_slam.py 3D map view missing HOT 3
- pangoling error HOT 1
- Timeseries of camera pose HOT 2
- Program not ending when the video is completed and no more images.
- Aborted (core dumped) HOT 2
- Solving ImportError: ../pyslam/thirdparty/g2opy/lib/g2o.so: undefined symbol: _Py_ZeroStruct | Again... HOT 5
- Scale problem HOT 1
- change the optimization cost HOT 1
- RGBD extension - guidance
- Loop closure and pose graph optimization HOT 1
- How to add custom feature detection algorithms and feature descriptor sub algorithms? HOT 2
- Issue with loftr in version 2.1 - TypeError: 'NoneType' object is not iterable HOT 1
- AttributeError: module 'g2o' has no attribute 'Flag' HOT 3
- Using PySLAM with Point Cloud Data
- AttributeError: module 'g2o' has no attribute 'Flag' HOT 1
- webcam error HOT 3
- MatplotLib Not responding HOT 5
- How to reach estimated X,Y,Z,Yaw,Roll and Pitch HOT 14
- Getting error when running the slam HOT 1
- Failed Building wheel for opencv-contrib-python HOT 1
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from pyslam.