thaytan
commented
3 years ago There is someone that's been on IRC a few times, looking into adding inside-out tracking to the Rift S headset. They pop up every now and then, but don't have any code public yet afaik.
As for papers to read, here's a few:
https://www.academia.edu/23959696/Visual_Odometry_Tutorial_ (Visual Odometry [Tutorial])
https://arxiv.org/pdf/1610.05949.pdf (Visual-Inertial Monocular SLAM with Map Reuse) https://intra.ece.ucr.edu/~mourikis/papers/Li2012-ICRA.pdf (Improving the Accuracy of EKF-Based Visual-Inertial Odometry) https://www.jstage.jst.go.jp/article/transinf/E93.D/1/E93.D_1_152/_article (Real-Time Estimation of Fast Egomotion with Feature Classification Using Compound Omnidirectional Vision Sensor) https://www.researchgate.net/publication/262378341_2-Point-based_Outlier_Rejection_for_Camera-IMU_Systems_with_applications_to_Micro_Aerial_Vehicles (2-Point-based Outlier Rejection for Camera-IMU Systems with applications to Micro Aerial Vehicles) http://rpg.ifi.uzh.ch/docs/ICRA14_Forster.pdf (SVO: Fast Semi-Direct Monocular Visual Odometry)
witty91
Hi there, first of all I really enjoy this coming along so nicely! Since I do not have a regular Rift but only a Rift S I have started looking into this code and simultaneously papers on tracking and specifically inside-out tracking. I'm not yet too deep into the literature, but I thought that it might be useful to collect links to interesting publications on this here (since I assume after the Rift the next logical step would be work on the Rift S). For example, this appears to give a nice overview but not a lot of technical details: https://onlinelibrary.wiley.com/doi/abs/10.1002/j.2637-496X.2017.tb00962.x So, would this be of interest/helpful?
Edit: I also found this, which does relate more closely to inside-out tracking: https://doi.org/10.1007/978-3-319-48496-9_21 This one is not freely available though