Drift when camera is static

rubengooj / pl-slam

This code contains an algorithm to compute stereo visual SLAM by using both point and line segment features.

GNU General Public License v3.0

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Drift when camera is static #27

Open antithing opened 6 years ago

antithing commented 6 years ago

Hi, and thanks for making this code available. I have it running with a live camera, but I am seeing drift in the estimated position when the camera is still. In the mrpt view, the position drifts slowly to the side continuously. Why would this be happening? Is the position checked against the local map? or is it simply frame to frame tracking?

Thanks again!

jiesico commented 6 years ago

Hi ! I want to know how did you achieve this function? Can you tell me?

antithing commented 6 years ago

How I ran it live? Just grab the synced and rectified frames from your stereo camera setup, and pass them into the function along with the calibration data.

jiesico commented 6 years ago

How to achieve it in the code? Can we talk about it via email? My email address is 13455295201@163.com