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Questions tagged [visual-odometry]

33 questions
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opencv Python Rodrigues

When the Rodrigues function is called with a rotation matrix as argument it provides 2 results. I understand that the first item returned is the vector around which the rotation occurs and that the magnitude of the vector provides the angle of…
Alan Johnstone
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Visual Odometry - Problem with Rotation and translation

I'm trying to reconstruct the trajectory of a camera by extracting the features from images and computing the camera pose, however the trajectory is not as I expected. For my visual odometry system I am using an Intel camera D435i which extracts…
Sasha San Antonio
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OpenCV recoverPose from essential matrix E

with Opencv 3.0, I obtained the essential matrix with the function: E = findEssentialMat(points2, points1, focal, pp, RANSAC, 0.999, 1.0, mask); Looking at the mask values number of inliers are really high. After I used the recoverPose…
user3318590
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How to check whether Essential Matrix is correct or not without decomposing it?

On a very high level, my pose estimation pipeline looks somewhat like this: Find features in image_1 and image_2 (let's say cv::ORB) Match the features (let's say using the BruteForce-Hamming descriptor matcher) Calculate Essential Matrix (using…
Milan
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OpenCV: What does it mean when the number of inliers returned by recoverPose() function is 0?

I've been working on a pose estimation project and one of the steps is finding the pose using the recoverPose function of OpenCV. int cv::recoverPose(InputArray E, InputArray points1, InputArray …
Milan
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Kitti stereo poses in world coordinate system

I'm currently experimenting with Kitti stereo dataset (http://www.cvlibs.net/datasets/kitti/eval_odometry.php), the goal is to find a correct matrix that projects pixels to points in world coordinate system. The problem is that I'm not sure which…
Kosheleva Elena
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Find relative scale in monocular Visual Odometry without PnP

I am implementing a standard VO algorithm, with a few changes, i.e. extract features, match the feature points, find the essential matrix and decompose to get the pose. After initialization however, instead of using 3D-2D motion estimation (PNP) for…
OlorinIstari
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How to evaluate Monocular Visual Odometry results used the KITTI odometry dataset

I am trying to use KITTI open dataset to do Deep Monocular Visual Odometry I tried to use this repo it converts pose to 6DoF using this code def get6DoFPose(self, p): pos = np.array([p[3], p[7], p[11]]) R = np.array([[p[0], p[1], p[2]],…
Essam Goda
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Roll, Pitch and Yaw Estimation with Visual Odometry using Monocular Camera

I am currently using OpenCV functions to read a video with the .mp4 extension. This video is from a forward-facing camera on an aerial vehicle. In this video's consecutive frames, I'm detecting keypoints and descriptors. For this purpose, I'm…
arcibiyo
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Extracting features or mathematically significant data on human skin on a mid resolution image

I have been implementing a visual slam approach on human skin for melanoma detection for the past few years but have reached a roadblock. I am unable to detect mathematically significant features on human skin on a 640x480 image. I am currently…
Srinath Rao
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goodFeaturesToTrack to obtain point correspondences between images

I have an image sequence (example KITTI). I want to obtain the motion between frames (up to scale. i.e, translation vector norm is 1.). I could find ORB features, in both images, calculate their descriptors, and use a matcher (example Brute Froce…
AlAhm
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How to calculate the L1 and L2 norm of angle values wrt the ground truths (where Angle values have a -180 to 180 period)?

How to calculate the L1 and L2 norm of angle values wrt the ground truths (where Angle values have -180 degrees to 180 degrees period)? If I have an array of data ip_data[] and an array of ground truth values gt[] then the L1 and L2 norm can be…
Milan
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How to evaluate the accuracy of Lucas-Kanade optical flow method for ORB features?

I have been working on Visual Odometry and using ORB features. I'm using the Lucas-Kanade optical flow method for tracking the keypoints between image sequences. I'm using OpenCV's calcOpticalFlowPyrLK() method. How can I check the accuracy of…
Milan
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What is the unit of points4D param in OpenCV's triangulatePoints function?

What is the unit of output points4D param in OpenCV's triangulatePoints function? I have been working on Visual Odometry and I'm not getting the expected output. So, to fix some issues, I'm trying to understand the nitty-gritty of the different…
Milan
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compiling opencv.js with cv.findEssentialMat() support

Ultimately attempting to use an equivalent of cv2.findEssentialMat() in Javascript using opencv.js. However I have been unable to find anything that shows an alternative or similar function available by default. Is there a way to compile with that…
Matt O
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