camera model

[pangfumin]

Hi Huai，
Thank you for sharing your code . Nowadays I am trying to modify the ekfslam to run my own dataset.But I get confused by the Civera's classic model as in Civera, 2008 . I don't what the relationship between k1 k2 in Civera's classic model to the general opencv radial distortion. Can you give a answer? Thank you.

[JzHuai0108]

Please check (1) the appendix of Javier Civera's paper inverse depth parameterization for monocular slam, (2) OpenCV calibration model http://docs.opencv.org/2.4/doc/tutorials/calib3d/camera_calibration/camera_calibration.html,
(3) Javier's explaination about these camera models at http://webdiis.unizar.es/~jcivera/code/1p-ransac-ekf-monoslam.html.

[wk199]

Hi Huai,the data you uesed is your collection from sesors or the KITTI dataset?
I don't understand this problem after reading your code description.
Thank you!

[pangfumin]

@w1019220367 https://www.youtube.com/watch?v=xOzqoA8QzJ0&t=16s

[JzHuai0108]

Are you referring to the linked video? The data used for the algorithm shown in the video is collected by cameras mounted on our GPS car.

[impce-lg]

Hi Huai, the comment beneath the video that u think leveraging filter and BA may work best, do you mean that to use both of them for one dataset ,and make a choice according to different data status?