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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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Camera axis move? #735

Open MelanieFo94 opened 2 years ago

MelanieFo94 commented 2 years ago

Hi all,

I would like to know why when I executed the following command roslaunch realsense2_camera opensource_tracking.launch which use the rtabmap library, why the camera axis move on RVIZ if someone is moving front of the camera even if the camera is fixed ?

I would like to fix this problem

Thank you

matlabbe commented 2 years ago

Well, if most features are extracted on the person passing in front of the camera, the camera will think it is moving. RTAB-Map's odometry uses RANSAC to be robust to some objects moving in the field of view of the camera. However, if the majority of features are extracted on dynamic objects, the camera will think it is moving. This is a well known problem in visual SLAM community, you can read the intro / related work of this paper for an summary of the problem.