SLAMTracker

A slam problem solver called SLAMTracker based on opencv.

Dataset

The KITTI dataset from http://www.cvlibs.net/datasets/kitti/eval_odometry.php.

Files include:

1. photo sequence from gray-camera-0 & camera parameter
2. photo sequence from gray-camera-1 & camera parameter
3. photo sequence from color-camera-0 & camera parameter
4. photo sequence from color-camera-1 & camera parameter

and we consider a Monolar SLAM solver so we only use the first dataset photo sequence from gray-camera-0

Implementation & Build

Based on OpenCV & Visual C++ 2013.

1. Feature Dectetion using SIFT

2. Multi-Frame Feature Match

3. Motion Estimation using Epipolar Geometry

4. Ground Detection & Scale Estimation

5. Global Tunning (...working on)

6. FrameSLAM using Skeleton

7. Sparse Bundle Adjustment

Configuration

All config paramters are shown below as a XML format.
and the default config file can be found in './vslam_config.xml'.

<?xml version="1.0"?>
<opencv_storage>
	...Item...
</opencv_storage>

• std::string CFG_sPathConfigFile
  Usage: 配置文件读取路径
  Default: "./vslam_config.xml"

• std::string CFG_sPathPoseGroutTruth
  Usage: 位姿GroundTruth文件读取路径
  Default: "./toPath/poses/00.txt"

• std::string CFG_sPathImageLoad
  Usage: 数据集图像序列读取路径 {idx:%06d}, 使用%06d指明加载图像的文件名
  Default: "./toPath/00/image_0/%06d.png"

• std::string CFG_sPathFeatureData
  Usage: 缓存特征预处理数据读取路径 {idx:%d} {nfeature:%d}
  Default: "./toPath/00/features_%d_%d.xml"

• bool CFG_bIsUseCacheFeature
  Usage: 是否使用本地预处理特征点
  Default: false

• std::string CFG_sModeExecute
  Usage: 程序执行模式 {track/feature}
  Default: track

• bool CFG_bIsCacheCurrentFeature
  Usage: 是否缓存当前运算特征
  Default: false

• bool CFG_bIsLimitRotationDiff
  Usage: 是否限制位移旋转角度增量
  Default: false

• int CFG_iImageLoadBegin
  Usage: 读取图像起始标号
  Default: 0

• int CFG_iImageLoadEnd
  Usage: 读取图像结束标号
  Default: number of frames

• int CFG_iMaxFeatures
  Usage: 最大特征匹配数量,Sift前K个特征
  Default: 2000

• bool CFG_bIsNotConsiderAxisY
  Usage: 是否忽略坐标绘制的Y(上下)轴
  Default: false

• double CFG_dDrawFrameStep
  Usage: 坐标绘制时单位长度(meter)的像素点长度
  Default: 1.0

• double CFG_dScaleRatioLimitBottom
  Usage: 尺度变换限制下界
  Default: 0.5, 相当于运动距离最长为 1.65f/0.5

• double CFG_dScaleRatioLimitTop
  Usage: 尺度变换限制上界
  Default: 11.0, 相当于运动距离最短为 1.65f/11.0

• double CFG_dScaleRatioErrorDefault
  Usage: 尺度变换异常的默认位移模长 Default: 0.5f, 相当于运动距离为 0.5

• bool CFG_bIsUseGroundTruthDistance
  Usage: 是否使用GroundTruth的位移模长
  Default: false

• double CFG_dRotationDiffLimit
  Usage: 位移旋转角度增量限制值(degree)
  Default: 15.0f

• double CFG_dScaleInvIncreaseDiffLimit
  Usage: 位移(尺度倒数)增量限制
  Default: 0.1f

• cv::Mat CFG_mCameraParameter
  Usage: 相机内参数矩阵
  Default: ""

• int CFG_iDequeFrameNumber
  Usage: 历史队列中的帧数限制
  Default: 1

• double CFG_dOpticalFlowThreshold
  Usage: 光流过滤阈值
  Default: 2.0

• bool CFG_bIsLogGlobal
  Usage: 全局log开启/关闭
  Default: false

• int CFG_iPreAverageFilter
  Usage: 前向均值滤波的帧数
  Default: 0

• std::string CFG_sDataName
  Usage: 数据集名称
  Default: "00"

Result View

report are in ./Report/ and the 2 directories mean:

1. ComputedScale
   the plot using the rotation by my computation and the moving distance by my computation
2. GroundTruthScale
   the plot using the rotation by my computation and the moving distance by ground truth (GPS coords)