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tum-vision / lsd_slam

LSD-SLAM
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Any way to initialize with rgb-d camera's depth? #320

Open ozakiryota opened 5 years ago

ozakiryota commented 5 years ago

I use LSD-SLAM with a rgb-d camera RealSense. Is there any way to initialize the depth map with rgb-d sensor's values instead of the random initialization? I would like to improve the trajectory at beginning and get absolute scales, not relative. Thanks.

bespoke-code commented 5 years ago

If you want to use a depth camera to map the environment, you should take some serious look at TUM-Vision's Volumetric 3D Mapping in Real Time paper and repository.

You could potentially initialize the depth map using the depth sensor, but then, what's the point of using a SLAM algorithm for mapping? What's more, it may involve a lot of trial and error to make it work :)

I hope this helps!

ozakiryota commented 5 years ago

Thank you for your reply and help. I’ll take look at it.