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hmgoforth / gps-denied-uav-localization

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How to convert the GPS coordinates? #8

Open cycyco opened 2 years ago

cycyco commented 2 years ago

Hi! I've noticed that some codes might be missing, which are 'decompose_rel_hmg.py' and 'combine_relative_pose_small_seq.m' mentioned in the comments. I have tried to convert the motion parameters to GPS coordinates by simply decomposing the homography matrixes between the village map and the UAV images in origin resolution (4608*3456). However, the results are not good as they should be.

What goes wrong with it? Would you please show how the homographies are converted? Look forward to your reply.

Zericoo commented 2 years ago

@cycyco Hi！ I also noticed that the procedure to convert from motion parameters to GPS coordinates is not provided here. Also I would like to ask you some questions sincerely, I am a newbie in this field and I would like to use the program in this article to match my own UAV images, but I don't know how the parameters in the downloaded '.csv' file come from, and if I want to run my own data, how do I generate '.csv' file? Do you know anything about it, and if you have time to answer this question, I would appreciate it!

cycyco commented 2 years ago

@Zericoo I think the parameters in the '.csv' file are the initial estimates of motion parameters, which are determined by VO in the first step of the whole process. VO is not presented in the code either. I'm sorry that I don't know the details of the generation, but maybe this code can match well using your own initial parameters. Also, If you have any idea of the conversion, would you please tell me? Hope we can figure it out.

Zericoo commented 2 years ago

@cycyco thank you so much , In the near future, I will continue to study this program and paper, but my current work is to use my own data set to run this program. If I have new ideas about transformation, I will share them with you at any time. Thank you again and good luck with your research！