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hengli / camodocal

CamOdoCal: Automatic Intrinsic and Extrinsic Calibration of a Rig with Multiple Generic Cameras and Odometry
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Any suggestions on getting better extrinsic calibration results? #109

Open summerdays12 opened 3 years ago

summerdays12 commented 3 years ago

Hi professors and everyone, I've got poor Odom-cam extrinsic results running the extrinsic_calib, and the results are not stable. In my case, I used Scaramuzza camera model, having 3 cameras(front, left, right side of the car), and I got poor results as the left and right camera positions are not symmetry(they should be...). And also, results of multiple running are not stable. I also tried to use only the "CamOdoCalibration" class and an external VO(ORB-SLAM2) to compute the extrinsic, and I have had relatively good results this way. And I used these results to replace the intermediate stage 0 results and rerun the extrinsic_calib with "begin-stage=1"(so it reads the replaced extrinsics), but finally I still got bad results. Any suggestions on getting better extrinsic calibration results?

Vslamer commented 2 years ago

Me too, I think the VO has some problem, the results are also not good.

wxz1996 commented 2 years ago

@summerdays12 I am also looking for a better self-calibration method, did you find a solution?