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lessthanoptimal / BoofCV

Fast computer vision library for SFM, calibration, fiducials, tracking, image processing, and more.
http://boofcv.org
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Visual Odometry, Slam and OAK-D #223

Open TheBricktop opened 3 years ago

TheBricktop commented 3 years ago

Hello, im really interested in using BoofCv for mobile visual odometry application, probably using the all shiny new OAK-D camera from luxonis, that has global shutter stereo camera with color and ai myriad coprocessor (for open vino models). For proper slam there is also some simple loop closure detection needed but for now im more inte odometry implementation, how one should start with this?

lessthanoptimal commented 3 years ago

Image recognition is functional and in the SNAPSHOT right now. Going from that to loop closure is "straight forward" and there should be a class you can just use in a few weeks. To start with stereo visual odometry I would look at the paper below. Then you can try to replicate that. There is also similar code in BoofCV. From there you should be able to understand/appreciate more recent feature based approaches. There are also direct methods but the math is completely different with those.

Nistér, David, Oleg Naroditsky, and James Bergen. "Visual odometry." Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004. CVPR 2004.. Vol. 1. Ieee, 2004.

TheBricktop commented 3 years ago

Do You happen to have some patreon or simply accept donations? Cause such amount of quality work deserves funding.

lessthanoptimal commented 3 years ago

Haven't set anything like that up! Thanks for the offer but very very few people/companies donate to opensource projects, even if it's critical to their infrastructure. Right now the best way to give back is to fix bugs, add new features, and publish cool projects you've made using BoofCV!

TheBricktop commented 3 years ago

Well, If You happen to set up something like that. me and my team is willing to support You and Your work.

lessthanoptimal commented 3 years ago

Quick update. There's a good chance a batch monocular and stereo SLAM algorithm will make it into the next release. Updating multi camera calibration tooling first though.

TheBricktop commented 3 years ago

Wow, thats great news. Ill definitelly want to check the performance of it on some arm boards

supertick commented 1 year ago

Hello, was there any activity on this ? I'm certainly interested :)

lessthanoptimal commented 1 year ago

Not much. Got distracted by trying to earn money. I know one person who did the mono SLAM thing but hasn't released it publicly yet. Multi camera calibration has been in the library for a bit but lacks a nice GUI.