Hello,
I am interested in running the ORB-SLAM2 algorithm that is presented in this example:
but with a different set of images and camera parameters as input. I already managed to set up the simulation and get it to work, but the optimized trajectory seems way off compared with the one coming from the GPS data. I ran multiple tests in different scenarios, and the most relevant ones are given below:
- Example from the link above, runs as expected;
- In the US City Block virtual environment with Unreal Engine, I captured the video frames from this other example: https://it.mathworks.com/help/vision/ug/stereo-visual-slam-for-uav-navigation-in-3d-simulation.html, and used them as input. After setting up the parameters as in this second example, the results obtained are good;
- KITTI dataset. The script works but the results are not satisfying;
- In the US City Block virtual environment with Unreal Engine, a trajectory drawn by me using Select Waypoints for Unreal Engine Simulation (https://it.mathworks.com/help/driving/ug/select-waypoints-for-3d-simulation.html). Here I managed to obtain good results even after changing the camera intrinsics so that they were the same as those used for KITTI;
- Another outdoor, urban virtual environment downloaded from the Unreal Engine Marketplace, same camera parameters as the previous case, but no good results.
Some useful information about the tests:
- I created a new bag of features for each environment, as described in the example;
- The initial pose has been updated with the correct values;
- Camera intrinsics, baseline and all the parameters inherent in the stereo configuration should have been correctly updated;
- The loop closure is obtained;
- Some parameters of the script has been modified to make it work with the new set of images and cameras: numSkipFrames has been reduced since the KITTI dataset is acquired at only 10Hz and numPoints has been increased since the resolution is higher than the one in the example's images;
- The length of the paths is similiar in all cases, and it's about 700 -800 meters.
I can't figure out what I'm doing wrong and why in a couple of cases it works well while in the others there is no way to get a good trajectory.
The image below shows what I obtain from a KITTI sequence.
I have made many runs, and it would seem that for even very small changes in some parameters the results can vary significantly. For example, numSkipFrames = 3 might work well, but = 2 or = 4 has detrimental consequences. Is this supposed to happen? In any case, the results that I have obtained are no better than what is shown here (from the Map Points it is also clear that the optimized trajectory is tilted out of the XY plane).
I am fairly new to the world of SLAM, and I hope I have stated my problem correctly. I would be extremely grateful to anyone who can give me some tips to get good results even with KITTI or other image sets. I am, of course, available to provide any additional information that might be helpful.
Thank you
