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Published 20 hours ago • verified publisher icon uzh-rpg

Optimizing SVO for Forward Facing Movements

Open atomoclast opened this issue 6 years ago • 6 comments

Hello,

On this page: https://github.com/uzh-rpg/rpg_svo/wiki/Obtaining-Best-Performance, you mention that SVO is not optimized for forward facing motions right now. I wanted to ask what exactly doesn't make it optimized for forward facing applications? If I wanted to optimize it for a forward facing application, what should be changed exactly to make it better for a forward facing application? I'm going to guess it's not a simple set of changes.

Thanks in advance! Great software otherwise!

atomoclast avatar Jul 27 '17 22:07 atomoclast

Hey, Thanks for asking. I'm very interested in this too.

YoshuaNava avatar Jul 28 '17 14:07 YoshuaNava

Hi

That's my question too. I tested SVO on kitti and Euroc datasets but it failed!!

What should I do?

zanazakaryaie avatar Sep 18 '17 09:09 zanazakaryaie

why isnt anyone replying to this..:(

maazmb avatar Jan 02 '18 11:01 maazmb

Hello

They have solved the problem in SVO 2.0.

It can support forward facing too. They have released binaries and no source code is provided. It is available under ROS

zanazakaryaie avatar Jan 02 '18 20:01 zanazakaryaie

Hi, thanks zanazakaryaie for your reply. Actually i am interested (for research purposes) in the source code of SVO 2.0 for forward facing movements but unfortunately that is not available yet. Has anyone tried working on making changes to the SVO algorithm for it to support forward facing camera? Any insight would be helpful..:)

maazmb avatar Jan 17 '18 08:01 maazmb

Hi, I gather that forward-motion support was implemented in PL-SVO, by Rubén Gómez Ojeda:

https://github.com/rubengooj/pl-svo

YoshuaNava avatar Feb 15 '18 13:02 YoshuaNava