-
Notifications
You must be signed in to change notification settings - Fork 4.7k
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
ORB-SLAM detects new keypoints with delay #919
Comments
It seems that ORB-SLAM only tracks new points if the current frame has enough similarity to the reference keyframe. This similarity is measured by BoW. So, I think when the camera is moved fast, the new frame will be very dissimilar to the reference keyframe and no PnP is set up. Anybody there? |
Lots of reasons. |
Thanks @xvzezi |
I notice that you said Rotate the camera |
Hi @xvzezi , nice point, do Stereo and RGB-D also face same problems with that? |
Nope. Triangulation is used for computing depth initialization. |
only use orb_slam3 -> cpp code and very fast , without delay |
Hi. I'm using ORB-SLAM on a live USB camera. It works fine but if I move the camera just a little bit fast to explore new regions, it loses the track. I noticed that after initialization If I move the camera a little bit fast, it can't add new keypoint in new frames unless I move the camera very slowly and hold it in the new regions waiting for the ORB-SLAM to detect new keypoints.
How can I solve this issue? Let me mention that I have decreased the fast threshold to 5, and increased the maximum number of ORB features to 5000.
Any help is highly appreciated
The text was updated successfully, but these errors were encountered: