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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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initial camera position #849

Open alexistex opened 11 months ago

alexistex commented 11 months ago

Hello. First of all, I am not very fluent in English and this question is translated. I want to perform localization from the previous location of the camera when tracking and tracking the current route if a tracking fail or Fail to track local map! occurs and routing fails and routing is performed again.

my problem when Fail to track local map! --> new map and reset location my camera.

use for live camera monocular on my car

Mechazo11 commented 7 months ago

@alexistex Hi, this I believe, is the problem of short-term relocalization essentially if your system fails to recover global pose within the first few frames from LOST state, the Atlas restarts a new map. Since in Monocular images there are no other positional data other than the one that is found from pose graph optimization, the system begins tracking from the origin, if tracking fails. Later on if enough correspondences between map points observed between the old map and current active map is found, then via long-term relocalization, the old map is added back into the current map. However this method is no always guaranteed to work and in cases can be made to join maps in completely wrong orientation

I have been working on a solution to this problem as part of my Ph.D. thesis. I shall share the technique and method and the code base to perform this operation as soon as it is accepted. It works to some extent but is not a perfect solution.