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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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fast motion loses track #108

Open antithing opened 8 years ago

antithing commented 8 years ago

I have orbslam running with synchronized global shutter cameras, at 114 htz. This should be fast enough to mean there is no motion blur in the frames, but when I move the rig quickly, the track is lost. Is this related to motion blur? Is there a camera setting I can change to improve this? Or is there something I can tune in the code to improve the robustness at speed?

Thanks!

poine commented 8 years ago

How are you grabbing your images? I doubt that you really are processing frames at 115 Hz. It depends on the resolution, on the number of extracted features and on your processor. For example, on my I7, with a resolution of 1280*1024 and 4000 features, i can process around 15fps On Jun 8, 2016 5:51 PM, "antithing" notifications@github.com wrote:

I have orbslam running with synchronized global shutter cameras, at 114 htz. This should be fast enough to mean there is no motion blur in the frames, but when I move the rig quickly, the track is lost. Is this related to motion blur? Is there a camera setting I can change to improve this? Or is there something I can tune in the code to improve the robustness at speed?

Thanks!

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antithing commented 8 years ago

Hi! The processing is around 25fps, I am grabbing the frames at 114 in another thread, and pulling them in when orbslam is ready for the next. Is there anything I can do to add stability for fast motion?

ank700 commented 8 years ago

Hi @poine , if the algorithm's image processing rate depends on the resolution, features and my processor, then does it make any sense to increase the camera fps? Or does camera fps help in increasing robustness to jerks or other sudden movements. In my experiments I observed that if I increase the camera fps to 160hz, the orb output rate increases to about 120 hz. (with maximum number of features set to 2000) Hi @antithing , how do you check the processing rate of orb. I am publishing tf data after TrackMonocular in ros_mono.cc and then check for the frequency of the published data.

Can you give me some relation between increasing the number of features, camera fps, so that orb works efficiently with robustness to slight jerks or small sudden movements.