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stella-cv / stella_vslam

This is a unofficial fork of OpenVSLAM (https://github.com/xdspacelab/openvslam)
https://stella-cv.rtfd.io/en/latest/
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Add Multi-Camera support #217

Open slovak194 opened 2 years ago

slovak194 commented 2 years ago

Hi!

I'm currently investigating the possibilities to introduce multi-camera (fisheye) support. Are there any plans or thoughts regarding how to do that? Here are some thoughts:

  1. Multi-image keyframes, camera rig, and feature matching across all cameras inspired by MultiCol-SLAM
  2. Stereo matching without rectification step inspired by fisheye stereo mode from ORB_SLAM3 or from Real-Time Variational Fisheye Stereo without Rectification and Undistortion in case of overlapping cameras.

I'd love to hear any suggestions regarding architectural and algorithmic work to be done. That's might be a big task. Does anybody have a willingness to help?

Best regards, Alex

dimaxano commented 2 years ago

Hi!

I'm willing to help with that, but I am not familiar yet with multi camera slam approaches, need to study it deeply

Also, as one more source of inspiration, that (PDF) ETH paper could be seen

slovak194 commented 2 years ago

Hi, @dimaxano!

Also, as one more source of inspiration, that (PDF) ETH paper could be seen

Yes, I've seen this article before. It sounds really great. But the reference implementation is missing and it may be too complex to target automatic/adaptive detection of available cameras.

But it definitely worse looking into.

QMonteCarlo commented 2 years ago

I'm currently working on this project as my personal project,porting from multicol-slam and openvslam.

ymd-stella commented 2 years ago

I'm currently working on this project as my personal project,porting from multicol-slam and openvslam.

MultiCol-SLAM is GPLv3. Therefore, if you ported their implementation, it cannot be merged into this repository. Please be careful.

Alex-Beh commented 2 years ago

Hello, any update on this new feature? I am willing to help.

slovak194 commented 2 years ago

Hello, any update on this new feature? I am willing to help. I've seen @QMonteCarlo is working on something, but I have not found the for he is using. It is still very relevant to me, but I have not progressed far.