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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 use the other image feature instead of ORB feature? #416

Open Realitian opened 7 years ago

Realitian commented 7 years ago

I tried to track about less featured small object ( something like toy, cup and real life objects ), but they have less FAST corners, so I couldn't track anymore. But I think those object have anything features like canny edge features. So, can we use the other image feature (something like canny edge feature) instead of ORB feature? Cheers.

AlejandroSilvestri commented 7 years ago

@realitian ,

ORB-SLAM2 uses keypoints as features. You can imagine substituting ORB by SURF, but you can't substitute keypoint by edges.

Semi dense approach like LSD-SLAM use edges.