Comments (3)
- object_slam demo 中针对的物体比较规则,物体上顶点采样会比较准确,所以看起来效果会比较好;
- 在 kitti 中效果确实不好(在 tum 中物体多且不规则的时候效果其实也不太好),作者在演示视频中 kitti 数据集中是用 matlab 版本三维检测并且经过一些对齐等处理之后效果,可以参考我之前问的作者的这个问题:About the detected pose of the 3D object;
- 我 readme 里的效果其实也很差的,我也没经过什么处理,只提供了初始帧相机的三个角度,检测结果有很多倾斜,偏航角不准确,变化比较大;
- 如果要使用的话我觉得首先要针对相对规则的物体,线段能检测得比较多、上顶点要比较好采样得到,此外不是每一次检测都有用,选取评分高的检测结果使用。
from cube_slam_wu.
您好,是的作者提供的 orbcubeslam 直接读取的离线车辆三维位姿,可以参考作者原始 Cube SLAM 中的 object_slam/src/main_obj.cpp 和 detect_3d_cuboid/src/main.cpp 是怎么进行三维物体检测的,我的代码中也就是先计算 detect_cuboid() 函数所需要的参数,加入到了 ORB-SLAM2 的恒速运动模型中,每次更新了位姿就调用 detect_cuboid() 进行三维物体检测。但必须提醒一下,效果并不好,在二维图像上绘制立方框可能效果还不错,但计算的物体三维位姿不准确存在不小的误差。
from cube_slam_wu.
我实现了一下,感觉效果奇差,还不如object_slam
部分检测的好,很多帧都检测不到立方,检测结果歪斜的也很厉害。看了你在readme
里贴出的效果,感觉还是挺好的,我是把三维检测直接加到了Tracking::Track()函数里,初始化transToworld_init=[1 0 0 0; 0 0 1 0; 0 -1 0 0; 0 0 0 1]
,但是检测得到的立方偏差很大。
from cube_slam_wu.
Related Issues (8)
- 相机初始位置 HOT 8
- 3D 物体目标生成 HOT 1
- cubslam测试kitti数据集 HOT 1
- eigen 对齐问题 HOT 1
- catkin_make 不通过问题
- cubslam测试kitti数据集
- 如何输出结果
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from cube_slam_wu.