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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Visual-Odomentry-Trajectory-Estimation-what-is-the-conditions-and-constants-that-implemented-in-rtabp-tp3650p3653.html

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