Problem in Visual SLAM algorithm
2 次查看(过去 30 天)
显示 更早的评论
HI,
I am using a stereo camera, gps, imu with laser scanner to find pose estimation on a moving vehicle. When i run the example code from my custom data obtained from a normal traffic road scene, some iterations are not completed due to error 'max number of trials reach, decreasing the desired confidence.' Also, i created bag of features for my dataset. I got follwoing problems
- In some scenes, VSLAM got error as features are not found. so i discard the complete dataset and take new scene.
- Due to moving cars and bikes near and far for stereo camera, comeplete travel distance, poses are not calculated for some images and algorithm terminated there.
- The graph does not show complete trajectory as indicared with red line, however, the code is still running and left right images are compared.
- Scale factor is 1.2, it is fixed for every test or how can i assume value for my test?
- Parameters which need to be tweak for my data. in eaxmple numSkipFrames = 5 and numPointsKeyFrame = 80 are set.
0 个评论
回答(0 个)
另请参阅
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!