Monocular Vision Odometry - without an additional sensor
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I am currentley trying to adopt the Monocular Vision Odometry example to my problem:https://de.mathworks.com/help/vision/examples/monocular-visual-odometry.html
I have a portable camera that is mounted at a fixed height (z=const). Hence, its motion is limited to the x,y-plane. When I apply the given example algorithm to my video, it shows anything else but a motion within the x,y-plane only.
Might you be able to tell me how to add a further boundary condition to that system or how to solve this issue?
I am kind of stuck.
Regards
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Answers (2)
Sai Bhargav Avula
on 29 Jul 2019
The issue might be with the intrinsics of the camera used. Try to re-calibrate the camera. You can use the MATLAB Camera Calibrator App. Refer to the following page for calibrating the camera:-
You can use the helperFind3Dto2DCorrespondences for additional boundary conditions if required.
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Niklas Hammerschmidt
on 31 Jul 2019
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Sai Bhargav Avula
on 1 Aug 2019
Edited: Sai Bhargav Avula
on 1 Aug 2019
As you mentioned majorly the translation is in Z-direction. I think the trajectory is being plotted in the camera cooridnate frame. To get the translation in world frame you need to perform coordinate axis transformation.
Check out the below link for further understanding
Hope this helps !
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