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HKUST-Aerial-Robotics / OmniNxt

[IROS'24 Oral] A Fully Open-source and Compact Aerial Robot with Omnidirectional Visual Perception
https://hkust-aerial-robotics.github.io/OmniNxt/
GNU General Public License v3.0
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Undistortion in Omni-VINS #7

Closed MohammadAnas-hub closed 3 months ago

MohammadAnas-hub commented 5 months ago

Greetings, I'm fascinated by your work on OmniNxt. I know that on using CNN on fisheye we usually get problem with feature extraction but I have a problem understanding why did you undistort the fisheye image first before passing it into the Omni-VINS.

Peize-Liu commented 5 months ago

Greetings, I'm fascinated by your work on OmniNxt. I know that on using CNN on fisheye we usually get problem with feature extraction but I have a problem understanding why did you undistort the fisheye image first before passing it into the Omni-VINS.

Yes, Omni-VINS only processes the undistorted fisheye image, and we perform feature extraction and tracking based on the undistorted image.