search

raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
Other
9.49k stars 4.71k forks source link

Using ORBSLAM2 with depth image only? #542

Open salocinx opened 6 years ago

salocinx commented 6 years ago

Hi. Is it possible to use ORBSLAM2 with the depth image only? My application will run in dark rooms and therefore the RGB image will not contain lots of information. If it needs both, RGB image and the depth-map, I will have to check for an infrared option.

AlejandroSilvestri commented 6 years ago

@salocinx , not possible, ORB-SLAM2 is essencially visual.

Infrared image should work.

I'm not into it, but I believe there must be some code out there for SLAM with depth map only.

salocinx commented 6 years ago

@AlejandroSilvestri , thanks for your response. I did search for RGBD only SLAM solutions, but didn't found anything of interest. Today's depth sensors have still some serious disadvantages (limited range, black or mirror surfaces, direct sunlight), therefore I understand that most SLAM approaches use the depth information only as supplementary ingredient.

Okay I will then try to implement an infrared approach. Hopefully I will find a IR frequency that satisfy the Astra RGB camera and does not interfere with the IR projector of the depth sensor. The illumination uniformity could also emerge as a major issue.

AlejandroSilvestri commented 6 years ago

@salocinx

Please let me know about your findings, and good luck!

martinakos commented 6 years ago

a bit late to reply, but KinectFusion works with depth only, although it's a dense method and you'll need a GPU to run it.