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JzHuai0108 / ekfmonoslam

SLAM using a monocular camera, optionally an IMU, and GPS
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camera model #1

Open pangfumin opened 8 years ago

pangfumin commented 8 years ago

Hi Huai， Thank you for sharing your code . Nowadays I am trying to modify the ekfslam to run my own dataset.But I get confused by the Civera's classic model as in Civera, 2008 . I don't what the relationship between k1 k2 in Civera's classic model to the general opencv radial distortion. Can you give a answer? Thank you.

JzHuai0108 commented 8 years ago

Please check (1) the appendix of Javier Civera's paper inverse depth parameterization for monocular slam, (2) OpenCV calibration model http://docs.opencv.org/2.4/doc/tutorials/calib3d/camera_calibration/camera_calibration.html, (3) Javier's explaination about these camera models at http://webdiis.unizar.es/~jcivera/code/1p-ransac-ekf-monoslam.html.

wk199 commented 7 years ago

Hi Huai,the data you uesed is your collection from sesors or the KITTI dataset? I don't understand this problem after reading your code description. Thank you!

pangfumin commented 7 years ago

@w1019220367 https://www.youtube.com/watch?v=xOzqoA8QzJ0&t=16s

JzHuai0108 commented 7 years ago

Are you referring to the linked video? The data used for the algorithm shown in the video is collected by cameras mounted on our GPS car.

huanhexiao commented 6 years ago

Hi Huai, the comment beneath the video that u think leveraging filter and BA may work best, do you mean that to use both of them for one dataset ,and make a choice according to different data status?