brucetend / dso

Integrated into ROS

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.

1.1 Build in ROS

Glog

Please refer to INSTALL.md, section Building Glog with CMake. The last step must be executed with sudo in order to install Glog into the system directory.

Catkin

Just run: bash catkin_make

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.