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3DOM-FBK / COLMAP_SLAM

Visual-SLAM based on COLMAP API
MIT License
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LOOP_CLOSURE_DETECTION = True #5

Closed YaroslavShchekaturov closed 8 months ago

YaroslavShchekaturov commented 8 months ago

Hi !

I just tried to run the code with LOOP_CLOSURE_DETECTION = True and set RootSIFT. Changed this part image

In general, everything goes fine, I've downloaded VOCAB_TREE. The one thing that bothers me is that sometimes I get outliers. Am I doing anything wrong? image

lcmrl commented 8 months ago

Hi, do you still have the problem?

YaroslavShchekaturov commented 8 months ago

Hi!

Yes, it usually happens in a changing lighting condition when the algorithm fails to align the image.

lcmrl commented 8 months ago

Yes it is because the erroneous detection of a loop closure. For how it is implemented now I think you can only play with the commented options, but I do not think they will help a lot image

The solution is in doing loop-closure detection with deep approaches, but not implemented yet in colmap-slam. For offline processing you could try to use this repo https://github.com/3DOM-FBK/deep-image-matching where for instance you can use deep image retrieval that is more robust for loop closure detection.

YaroslavShchekaturov commented 8 months ago

got it! Thank you very much!

lcmrl commented 8 months ago

Good, if you find any problems do not hesitate to open an issue or if you want to collaborate on the project simply edit and ask for merging changes, any help is welcome!