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Dense Visual Odometry and SLAM
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Jacobian of depth error in dense visual SLAM #72

Open lanfeiying opened 3 years ago

lanfeiying commented 3 years ago

Hi, I have a question about the jacobian derivation of the depth error function in this paper: Dense Visual SLAM for RGB-D Cameras (C. Kerl, J. Sturm, D. Cremers), In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS), 2013.

My derivation is presented below: Screenshot from 2021-05-05 01-07-05

I did this in my code, but it doesn't work. I don't find any material about the derivation of this jacobian. Could you help me check this derivation? I even implemented it using AutoDifferentiation, but it doesn't work.

lanfeiying commented 3 years ago

I only used geometric error without photometric error, this system doesn't optimize the pose.