Forums - Stereo-cameras for VISLAM

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Stereo-cameras for VISLAM
vd
Join Date: 3 Oct 18
Posts: 2
Posted: Thu, 2019-03-28 07:56

Hi,

is it possible to use both stereo-vision cameras from the Qualcomm Flight Pro for the VISLAM? If yes, then how is it possible to provide the information that the current image is left/right and also extrinsic calibration between the two cameras?

Thanks!

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gmcgrath
Join Date: 21 Aug 13
Posts: 59
Posted: Thu, 2019-03-28 09:02

The stereo cameras are not explicitly supported by mvVISLAM at this time although they are the same sensor module as the down-facing camera.  So, it is possible to use either of them for monocular tracking and combine with mvCPA for exposure/gain control.  However, it is not recommended because it will typically lead to poorer tracking performance given the narrower FOV on those cameras and the upward tilt relative to the downward camera which is usually a less featured environment.  We have tested full stereo camera support in mvVISLAM and the improvements have not been worth the added computations for typical use cases.

If you want to proceed anyway, one can use mvCAC and mvSAC to estimate the intrinsic and extrinsic calibration parameters.

 

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