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raulmur / ORB_SLAM

A Versatile and Accurate Monocular SLAM
http://webdiis.unizar.es/~raulmur/orbslam/
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Tracking on Corner-Poor Environments: Alternate Feature Detectors/Descriptors #32

Open Oblynx opened 9 years ago

Oblynx commented 9 years ago

Hello, It would be interesting to combine this SLAM system with a feature detector and descriptor other than ORB, primarily to compare performance in special use cases, such as environments with few corners. However the ORB version implemented here is greatly extended with specific functionality which probably wouldn't be easy to convert.

jonas- commented 8 years ago

Hi I'm starting to look into this topic with using line features in addition to the existing ORB-SLAM-Framework (which I adaptded for a catadioptric omnicam) for more robust tracking, mapping.

Did you @Oblynx or somebody else already incorporated additional features? Would be great if you could share your experience, also with the implementation.

Cheers, Jonas

Oblynx commented 8 years ago

Hi Jonas, No, I haven't after all. I did experiment with different configuration settings for ORB-SLAM, such as FAST threshold, however what made the biggest impact for me by far was simply increasing the light level in the room. It's been quite some time so I don't remember any other details. On a tangent, this paper might be interesting: http://web.stanford.edu/class/cs231m/projects/final-report-shridhar-neo.pdf

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On 8 December 2015 at 03:57, Jonas Eichenberger notifications@github.com wrote:

Hi I'm starting to look into this topic with using line features in addition to the existing ORB-SLAM-Framework (which I adaptded for a catadioptric omnicam) for more robust tracking, mapping.

Did you @Oblynx https://github.com/Oblynx or somebody else already incorporated additional features? Would be great if you could share your experience, also with the implementation.

Cheers, Jonas

— Reply to this email directly or view it on GitHub https://github.com/raulmur/ORB_SLAM/issues/32#issuecomment-162734479.

nlw0 commented 8 years ago

@jonas- That is a topic I also have some interested on, would love to see any work you have done in edge-based SLAM.

jonas- commented 8 years ago

I haven't done any work with line, edge features yet. But start now and will share my results as soon as I have some.