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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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Does the method support Global shutter or Rolling shutter? #94

Closed ShilangChen1011 closed 4 years ago

ShilangChen1011 commented 4 years ago

Thanks for your great work. My camera is ZED 2, does it need the additional operation to support?

jj-gomez commented 4 years ago

Currently ORB-SLAM3 only supports Global Shutter cameras. Unfortunately, adapting ORB-SLAM3 to rolling shutter cameras is not straightforward and we are not planning to do it.

Shkunn commented 3 years ago

Hello ! I've experimented the same probleme which is :

not IMU meas
no pose update
not enough acceleration
no pose update
not enough acceleration
no pose update
not enough acceleration

So @yike-chen I've read all your messages and figured that the probleme was that ZED2 is a Rolling Shutter camera and ORD-SLAM3 only supports Global Shutter cameras as @jjgr3496 said...

It's been 6 months since you've posted your message so I'd like to know if you had been working on this issue since then ?

Appreciate it !

Pallav1299 commented 3 years ago

Hi, I've tried ORB-SLAM3 with Realsense D435i. I used the rolling shutter RGB sensor with the inbuilt IMU on the D435i and was able to achieve decent results with ORB-SLAM3. I must admit that the performance starts to degrades very much at times of fast motion and doesn't recover at all. Although I am unsure of the reason, but it might be due to the lack of global shutter. Still looking into it. Looking for suggestions.