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tum-vision / tum_ardrone

Repository for the tum_ardrone ROS package, implementing autonomous flight with PTAM-based visual navigation for the Parrot AR.Drone.
http://wiki.ros.org/tum_ardrone
GNU General Public License v3.0
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Yaw causes the localization system to lose tracking #70

Open masasin opened 9 years ago

masasin commented 9 years ago

The system is accurate when translating, but yaw causes the drone to lose all tracking, even though there are many features. It tells me that it is "attempting recovery".

Specifically, new keypoints are not added to the map.

souljaboy764 commented 9 years ago

Correct me if I'm wrong but that is a drawback of PTAM itself. Like a few other monocular SLAM systems, PTAM also performs poorly in the case of pure rotation. You need adequate translation along with rotation to prevent breaking of PTAM

pulver22 commented 8 years ago

@masasin I noticed the same behaviour and I tried to explained it here : https://github.com/tum-vision/tum_ardrone/issues/80

Did you find a solution to it?

masasin commented 8 years ago

@pulver22 I changed the focus of my project.