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sair-lab / AirVO

An Illumination-Robust Point-Line Visual Odometry (IROS 2023)
BSD 3-Clause "New" or "Revised" License
472 stars 61 forks source link

Runing on stereo fisheye #102

Open smileyenot983 opened 2 months ago

smileyenot983 commented 2 months ago

Hi. Did anyone run AirVO with in stereo fisheye setup?

xukuanHIT commented 1 month ago

@smileyenot983 Hi, I have tried the stereo camera. As features are detected on the images undistorted by the OpenCV, so the VO performance relies on the undistortion. For fisheye cameras with minor distortion, such as the UMA-VI dataset, the undistortion is fair, but for fisheye cameras with severe distortion, we find the OpenCV's undistortion is not very good.