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VIS4ROB-lab / covins

COVINS-(G) -- A (Generic) Framework for Collaborative Visual-Inertial SLAM and Multi-Agent 3D Mapping
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unable to detect loops #39

Closed swj6030829 closed 6 months ago

swj6030829 commented 1 year ago

I would like to ask, I am using my own camera and the various proxies and backend are running smoothly. The local maps of each proxy can be generated successfully in the backend. However, it is still unable to detect loops regardless of how high the similarity of the scene is. May I know why or which parameters should I modify?

swj6030829 commented 1 year ago

Hi, just to add, the framework I am using is COVINS-G.

manthan99 commented 1 year ago

Hi

I can probably help you out but it would be necessary to see some terminal outputs in order to find out the issue. Btw, are you running it in an outdoor scenario ? And which front-end are you using ?

swj6030829 commented 1 year ago

2023-04-27 20-28-20 的屏幕截图 2023-04-27 20-30-51 的屏幕截图 Hello, this is my running result. I ran the first frontend and the second frontend separately on two ROSBAG datasets recorded in the same room with high scene similarity. I used the RGBD mode of ORBSLAM3 as my frontend, but I don't think this affects the data transmission to the backend. I published image frames and odometry information to the backend through ROS, and the backend can receive them, but it cannot detect any loop closures. Is it because there are too few keyframes generated, or some other reasons? I look forward to your reply.

manthan99 commented 1 year ago

Hi

Are you using the Front-end ROS wrapper with RGBD ORBSLAM3? From the Rviz trajectories, they do not look good and seem to be very discontinuous (should be much smoother).

Could you enable the Keyframe visualization in rviz and resend the screenshots ?

swj6030829 commented 1 year ago

2023-04-27 20-51-49 的屏幕截图 Hello, I am using the default settings and parameters. It seems that only from the third proxy node onwards, the keyframes can be seen in RVIZ. I have checked the dataset I recorded and found that the RGB publishing frequency is only 10 frames. I can adjust it to a higher frequency. Will this affect the detection of loop closures?

manthan99 commented 1 year ago

Hi

It seems like you are indeed using the Front-end ROS Wrapper that we provide.

Unfortunately, this will not work with ORB-SLAM3 directly because of the local optimizations that ORB-SLAM3 does, the frame is always drifting (until initialized properly). If you wish to use ORB SLAM3 in RGBD mode, I suggest to do modifications to the ORB-SLAM3 codebase itself (Like it is done for the monocular case).

You can have a look at this for reference: https://github.com/manthan99/covins_g#interfacing-a-custom-vio-system-with-covins

patriksc commented 6 months ago

Closing - inactive