Hi guys,
I'm trying to use PTAM to localize and track a mobile robot using only a camera.
I have a few questions to ask:
1) it's possible to mantain the correct tracking and create a consistent map without using any sensor besides the camera? I know that PTAM is a monocular SLAM and so can not recover the absolute scale of the map, but, for the time being, I don't care.
2) every time I run the program the grid created in the initialization, after some movements, moves away from the initial position and sometimes becomes very small. I've tried to change some parameters as suggested in issue https://github.com/ethz-asl/ethzasl_ptam/issues/7 but it doesn't work. I don't understand if the problem regards the camera, the calibration, the initialization or something else.
3) how can I transform the value of the estimated PTAM pose in metric scale without using any sensor that provides metric information? Maybe during the initialization I have to translate the camera exactly 10 cm so the calculated pose rappresents the distance in metric scale from the center of the grid?
Hi guys, I'm trying to use PTAM to localize and track a mobile robot using only a camera. I have a few questions to ask:
1) it's possible to mantain the correct tracking and create a consistent map without using any sensor besides the camera? I know that PTAM is a monocular SLAM and so can not recover the absolute scale of the map, but, for the time being, I don't care.
2) every time I run the program the grid created in the initialization, after some movements, moves away from the initial position and sometimes becomes very small. I've tried to change some parameters as suggested in issue https://github.com/ethz-asl/ethzasl_ptam/issues/7 but it doesn't work. I don't understand if the problem regards the camera, the calibration, the initialization or something else.
3) how can I transform the value of the estimated PTAM pose in metric scale without using any sensor that provides metric information? Maybe during the initialization I have to translate the camera exactly 10 cm so the calculated pose rappresents the distance in metric scale from the center of the grid?
Thanks in advance
Mauro