helperTrackLocalMap error with Monocular SLAM

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Sashamaru John
Sashamaru John on 15 May 2020
Edited: cui on 29 Nov 2022 at 7:42
Hi everyone,
I have run the Monocular SLAM (https://www.mathworks.com/help/vision/examples/monocular-visual-simultaneous-localization-and-mapping.html.) with Matlab 2020a, and I have tried some datasets, e.g., the TUM dataset in the tutorial and the Kitti dataset. How, I have got the following error.
Error using worldToImage
Expected worldPoints to be nonempty.
Error in worldToImage (line 83)
validateattributes(worldPoints, {'double', 'single'}, ...
Error in helperTrackLocalMap (line 63)
projectedPoints = worldToImage(intrinsics, R, t, localMapPoints);
Error in main (line 218)
helperTrackLocalMap(mapPointSet, vSetKeyFrames, mapPointsIdx, ...
I have found that this error is due to few keypoints. I did not change anything of the tutorial except changing the name of the helper function helperSURFFeatureExtractorFunction to helperExtractorFunction (helperExtractorFunction ). I was wondering if anyone else can run the tutorial successfully. Any help would be appreciated.
  6 Comments
Sashamaru John
Sashamaru John on 21 May 2020
Both work for me. Changing the first seems to be better than the second.

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Answers (1)

Qu Cao
Qu Cao on 19 Aug 2020
Answer pasted from comments:
Please try tunning the parameters to see if it helps improve the robustness:
  • In helperIsKeyFrame, set the minimum number of tracked map points to a larger value, say 90;
  • In helperCreateNewMapPoints, change 'MaxRatio' to a smaller value, say 0.7
  2 Comments
cui
cui on 29 Nov 2022 at 7:40
Edited: cui on 29 Nov 2022 at 7:42
I think this is more of an empirical threshold that is dynamically adjusted to your own images @jose daniel hoyos giraldo ,You can refer to the thresholds designed in the latest version of R2022b for the exact TUM dataset

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