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https://github.com/RonaldSun/VI-Stereo-DSO
Direct sparse odometry combined with stereo cameras and IMU
https://github.com/RonaldSun/VI-Stereo-DSO
Last synced: 27 days ago
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Direct sparse odometry combined with stereo cameras and IMU
- Host: GitHub
- URL: https://github.com/RonaldSun/VI-Stereo-DSO
- Owner: RonaldSun
- Created: 2019-03-06T02:59:14.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2019-07-20T03:41:34.000Z (almost 5 years ago)
- Last Synced: 2024-02-10T05:04:01.502Z (4 months ago)
- Language: C++
- Homepage:
- Size: 7.24 MB
- Stars: 363
- Watchers: 17
- Forks: 118
- Open Issues: 28
-
Metadata Files:
- Readme: README.md
Lists
- Awesome-SLAM - VI-Stereo-DSO
README
# VI-Stereo-DSO
## Related Papers:
- **Direct Sparse Odometry**, *J. Engel, V. Koltun, D. Cremers*, In arXiv:1607.02565, 2016
- **Stereo DSO:Large-Scale Direct Sparse Visual Odometry with Stereo Cameras**, *Rui Wang, Martin Schwörer, Daniel Cremers*, 2017 IEEE International Conference on Computer Vision
- **Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization**, *Lukas von Stumberg, Vladyslav Usenko, Daniel Cremers*, 2018 IEEE International Conference on Robotics and Automation (ICRA)
## 1. Installation
Please follow https://github.com/JakobEngel/dso.
## 2. Usage
1. Modify the bash file
2. For stereo:
```
bash ./run.bash
```
3. For mono:
```
bash ./run_mono.bash
```
- T_stereo file:
```
transform matrix from right camera to left camera (4x4).
```
- imu_info file:
```
transform matrix from left camera to imu (4x4).
gyroscope noise density [ rad / s / sqrt(Hz) ] ( gyro "white noise" )
accelerometer noise density [ m / s^2 / sqrt(Hz) ] ( accel "white noise" )
gyroscope random walk [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
accelerometer random walk [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion )
```
## Experiments
- 20190424
SE(3) Umeyama alignment：
| weight 6,0.6,0.5 | MH01 | MH02 | MH03 | MH04 | MH05 | V101 | V102 | V103 | V201 | V202 | V203 |
| ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ |
| ape rmse(m)| 0.0321 | 0.0288 | 0.0743 | 0.119 | 0.072 | 0.0599 | 0.105 | 0.168 | 0.0852 | 0.0667 | 0.211 |
No alignment（Initialization may have an impact on the results）:
| weight 6,0.6,0.5 | MH01 | MH02 | MH03 | MH04 | MH05 | V101 | V102 | V103 | V201 | V202 | V203 |
| ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ | ------ |
| ape rmse(m)| 0.0993 | 0.0557 | 0.234 | 0.194 | 0.111 | 0.232 |0.202 | 0.2777 | 0.102 | 0.114 | 0.263|
- 20190416
Apply First Estimates Jacobians to scale to maintain consistency.
EuRoC MH01:
- EuRoC V1_03:
- EuRoC V2_03:
- 20190409:
green line: groundtruth, redline: VI-Stereo-DSO
## P.S.
This project aims at verifying the location performance of VI-Stero-DSO. The computational efficiency is to be improved. Actually in current code, many preintergration operations are redundant and can be simplified.