/VI-Stereo-DSO

Direct sparse odometry combined with stereo cameras and IMU

Primary LanguageC++

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.