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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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can we use orb-slam2 as pose estimation with stereo camera for dense reconstruction? #271

Open dejunzhang opened 7 years ago

dejunzhang commented 7 years ago

Hi, does the accuracy of the pose from orb-slam with stereo camera is good enough for dense reconstruction? thanks a lot.

AlejandroSilvestri commented 7 years ago

Well, it depends on what accuracy you are looking for.

Of course you can do dense reconstruction based on orb-slam2 pose estimation. I believe you must try it and evaluate the results.

Orb-slam2, like all monocular SLAM, is subject to drifting, including scale drifting. The drifting is dramatically lowered with closed loops. So, I recommend closing large loops in you path.

Pose accuracy depends on camera calibration, distorsion and stereo camera extrinsic parameters.

paulpaul91 commented 7 years ago

can you show us a good stereo calibration?

AlejandroSilvestri commented 7 years ago

@paulpaul91 , sorry, I can't.