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Published 20 hours ago • verified publisher icon uzh-rpg

Monocular camera: scale changes (actually diminished) while moving around

Open joshi-bharat opened this issue 7 years ago • 4 comments

I am trying to move Clearpath husky around the corridor with loops using monocular camera. But the map scale changes while moving the robot around. Are there any specific parameters I can tweak? I am not sure if adding IMU will help or not. Here are some images for reference... husky_2 husky_indoor_120_5

joshi-bharat avatar Feb 04 '18 23:02 joshi-bharat

hi did you fix the issue? i am facing the same problem

skandaswaroop1998 avatar Dec 11 '19 10:12 skandaswaroop1998

Same ^^ any explanation or possible solutions would be much appreciated.

kylelindgren avatar Dec 11 '19 13:12 kylelindgren

hi did you fix the issue? i am facing the same problem

Nope. This is one of the limitations of the package using the monocular camera. I am not sure it can be fixed easily.

joshi-bharat avatar Dec 11 '19 21:12 joshi-bharat

That's unfortunate. But thank you for the response.

kylelindgren avatar Dec 13 '19 14:12 kylelindgren