Model files for stereo and RGB-D

princeton-vl / DROID-SLAM

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Model files for stereo and RGB-D #90

Open GopiRajuMatta opened 1 year ago

GopiRajuMatta commented 1 year ago

Hello,

Provided droid.pth file works for mono setup. As mentioned in the paper, DROID-SLAM also can be used with stereo and RGB-D settings. Can you please provide model(.pth) files for stereo and RGB-D settings.

I want to test the efficacy of this method with other stereo visual odometry methods.

Thank you Gopi

gyes00205 commented 1 year ago

Hi @GopiRajuMatta ,

The paper means that mono, stereo and RGB-D setting can use the same model weights (droid.pth) to test. Therefore, you can use the droid.pth to test the efficiency on stereo setting.

PeteBai commented 1 year ago

hi @gyes00205 Were you able to evaluate stereo sequence with no scaling issue? I'm having trouble configure the stereo sequence. all the results are not up to scale. I also didn't find a way to define parameters such as stereo baseline.... Thank you

gyes00205 commented 1 year ago

Hello @PeteBai, I don't evaluated the stereo sequence. To address the scaling issue, I estimate the depth of stereo images using a stereo matching network and then feed the resulting RGB-D images into DROID-SLAM. Below is a figure comparing monocular with stereo + depth. I used ZED camera to capture stereo images.