Re: Multi-camera setting explanation (visual odometry)

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Multi-camera-setting-explanation-visual-odometry-tp5813p5814.html

Hi Riccardo,

Features of both images are used at the same time in the odometry estimation. This means that if one camera is obstructed or is seeing featureless surfaces (like a white wall), as long as any of the other camera can see visual features, odometry won't get lost. The frame rate of the cameras should be high (>=30) for good synchronization or ideally that all cameras are hardware synchronized (similar to multiple D400 cameras in master/slave synchronization). An overlap between the cameras is not required, though useful to setup TF between the cameras (using Kalibr to find transformation between the cameras).

cheers,
Mathieu