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raulmur / ORB_SLAM

A Versatile and Accurate Monocular SLAM
http://webdiis.unizar.es/~raulmur/orbslam/
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multiple camera with orb_slam #51

Open navidmostofi opened 9 years ago

navidmostofi commented 9 years ago

Hi

I have a question about how to integrate multiple cameras in ORB_SLAM in a way that each can use the map generated from the other one (not generate new map) for localization.

Thanks

aaronma37 commented 9 years ago

Hi Navid,

I'm not sure if anyone has made anything yet, but I was able to get multiple cameras tracked and publishing new keyframes. If you modify the tracking.cc file to accept multiple camera streams and make multiple instances of "trackers" it works pretty well. Let me know if I can share it

Oblynx commented 9 years ago

Hi aaronma37,

Combining many cameras is a very interesting project. I think tracking is the first step and then you can try to combine the data they gather for the mapping. Do you work on a fork of ORB_SLAM?

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On 13 August 2015 at 07:29, aaronma37 notifications@github.com wrote:

Hi Navid,

I'm not sure if anyone has made anything yet, but I was able to get multiple cameras tracked and publishing new keyframes. If you modify the tracking.cc file to accept multiple camera streams and make multiple instances of "trackers" it works pretty well. Let me know if I can share it

— Reply to this email directly or view it on GitHub https://github.com/raulmur/ORB_SLAM/issues/51#issuecomment-130540479.

aaronma37 commented 9 years ago

Hey Oblynx, I will upload it to a fork later today. I am a little new to github so I didn't want to mess anything up.

Here, it currently works for 2 but that is easy to change.

https://github.com/aaronma37/ORB_SLAM/tree/MultipleC

navidmostofi commented 9 years ago

Hi, anyone did stereo matching with ORB_SLAM? I want to remove the current initialization part by depth estimation from stereo but the problem is that the matching of ORB between left and right images fails, anyone has any similar experience?

trainIsdreame commented 7 years ago

Hi @aaronma37 , I tried to run your code. But i can't work for 2 camera. Do you have more information about this project?