Rtab map stereo visual odometry pose scale?

asked 2020-04-16 17:28:25 -0600

3bkr
3 ●1 ●2 ●3

Hello I'm kind of new to ROS, I'm trying to use the stereo visual odometry of RTAB map to produce odometry for localization, I have tried it on gazebo, the pose in the odom topic is translated in gazebo as one grid cell, what i don't understand is what is the ground truth for the pose when using real stereo camera? is it 1 meter for every change in X or Y? and how can i specify the unit of the pose?

answered 2020-04-17 17:21:53 -0600

matlabbe

6409 ●11 ●96 ●80

It will be the units used during the calibration of the stereo camera (checkboard size). In general, the units will be in meters.

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Thank youu

3bkr ( 2020-04-18 06:16:17 -0600 )edit

Hello again, I have tried using a stereo camera and i have a problem, the scale is not logical on high speed, i have tried moving in a straight line in the X direction for 100 meters on a speed 40 km/h and it gives not logical numbers, is that normal or I have a problem? Thanks in advance

3bkr ( 2020-04-19 06:48:11 -0600 )edit

It could be a tracking problem, but units should always be the same. What kind of camera do you use? If the cameras are not synchronized, it may affect the scale when moving.

matlabbe ( 2020-04-21 10:00:02 -0600 )edit

Hello thanks alot for your reply What do you mean by tracking problem? I’m using two synchronized leopard imaging cameras for stereo and for the calibration i used the camera calibration package

3bkr ( 2020-05-05 18:30:47 -0600 )edit

If visual odometry fails to or wrongly match features, it could create wrong transformations. Maybe I didn't understand what you mean by "it gives not logical numbers".

matlabbe ( 2020-05-12 11:34:51 -0600 )edit

Sorry i meant the result is not logical, for example i drive for 100 meters in a straight line so the X in pose is supposed to be 100 in the odom topic but the result is 2

3bkr ( 2020-05-12 11:45:19 -0600 )edit

do you have a database to share?

matlabbe ( 2020-05-13 12:28:13 -0600 )edit

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Rtab map stereo visual odometry pose scale?

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