Visual Odomentry Trajectory Estimation: what is the conditions and constants that implemented in rtabmap

[m.omar82]

Dear Sir
I am writting a description of rtabmap in terms of trajectory estimation using the stereo camera, F2F pnpRANSIC.etc.

Can you please tell us the papers or the methods you follow in rtabmap development for visual odometery & trajectory estimation. the papers that can explain the conditions and the constraints that implemented in rtabmap.

Thanks & best regards

[matlabbe]

Hi,

I didn't based the odometry approaches implemented in rtabmap on a particular paper, I took the basic ideas from Frame-To-(Key)Frame or Frame-To-Map approaches of many visual odometry papers and implemented them with available functions included already in OpenCV, PCL and g2o (e.g., feature extraction, feature matching, ransac registration, 3D->3D or 3D->2D estimation, local bundle adjustment...). See this visual odometry survey paper (Scaramuzza and Fraundorfer) for overview.

cheers,
Mathieu

[m.omar82]

Thanks a lot for your fast response