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xdspacelab / openvslam

OpenVSLAM: A Versatile Visual SLAM Framework
https://openvslam.readthedocs.io/
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Regarding 4k image sequence visual SLAM #487

Open RunqiuBao opened 3 years ago

RunqiuBao commented 3 years ago

Hi, thanks for this great library.

I wanted to run a 4k image sequence with openvslam, but I found the result trajectory accuracy not so good. (worse than using 1k image) I suppose there must be some parameter tuning before changing to 4k image.

Then I adjusted the orb parameters in the config file. I also adjusted a searching range parameter of orb feature matching hard-coded into stereo.cc. The result trajectory accuracy improved, but still it can not surpass when using 1k images. Theoretically, 4k image result should be better than 1k image result, right? I wonder if there are more hard-coded parameters that I can optimize for running on a 4k image sequence.

Best regards. Runqiu

ryleymcc commented 3 years ago

I'm using a 4k ricoh theta over usb for real-time slam and it is very accurate

RunqiuBao commented 3 years ago

I'm using a 4k ricoh theta over usb for real-time slam and it is very accurate

How accurate is it? Did you have a quantitative evaluation? And have you modified the SLAM parameters as well as orb parameters?