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About the developer

RonaldSun
229 Stars 90 Forks 18 Commits 24 Opened issues

Description

Direct sparse odometry combined with stereo cameras and IMU

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VI-Stereo-DSO

Related Papers:

  • Direct Sparse Odometry, J. Engel, V. Koltun, D. Cremers, In arXiv:1607.02565, 2016

  • Stereo DSO:Large-Scale Direct Sparse Visual Odometry with Stereo Cameras, Rui Wang, Martin Schwörer, Daniel Cremers, 2017 IEEE International Conference on Computer Vision

  • Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization, Lukas von Stumberg, Vladyslav Usenko, Daniel Cremers, 2018 IEEE International Conference on Robotics and Automation (ICRA)

1. Installation

Please follow https://github.com/JakobEngel/dso.

2. Usage

  1. Modify the bash file

  2. For stereo:

    bash ./run.bash
    
  3. For mono:

    bash ./run_mono.bash
    
  • T_stereo file:
    transform matrix from right camera to left camera (4x4).
  • imu_info file:

    transform matrix from left camera to imu (4x4).
    gyroscope noise density [ rad / s / sqrt(Hz) ] ( gyro "white noise" )
    accelerometer noise density [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
    gyroscope random walk [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
    accelerometer random walk [ m / s^3 / sqrt(Hz) ].  ( accel bias diffusion ) 
    

    Experiments

  • 20190424

SE(3) Umeyama alignment:

| weight 6,0.6,0.5 | MH01 | MH02 | MH03 | MH04 | MH05 | V101 | V102 | V103 | V201 | V202 | V203 | | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | | ape rmse(m)| 0.0321 | 0.0288 | 0.0743 | 0.119 | 0.072 | 0.0599 | 0.105 | 0.168 | 0.0852 | 0.0667 | 0.211 |

No alignment(Initialization may have an impact on the results):

| weight 6,0.6,0.5 | MH01 | MH02 | MH03 | MH04 | MH05 | V101 | V102 | V103 | V201 | V202 | V203 | | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | | ape rmse(m)| 0.0993 | 0.0557 | 0.234 | 0.194 | 0.111 | 0.232 |0.202 | 0.2777 | 0.102 | 0.114 | 0.263|

  • 20190416

Apply First Estimates Jacobians to scale to maintain consistency.

EuRoC MH01:

  • EuRoC V1_03:

  • EuRoC V2_03:

  • 20190409:

green line: groundtruth, redline: VI-Stereo-DSO

P.S.

This project aims at verifying the location performance of VI-Stero-DSO. The computational efficiency is to be improved. Actually in current code, many preintergration operations are redundant and can be simplified.

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