How to improve positional tracking odometry in scene with moving objects?

Software ROS2
1

Hello.

I am using zedx camera zed-ros2-wrapper.

For lowest possible latency and faster rates I am using SVGA, 120fps, neural light, GEN3 positional tracking.

I have problems in scenes with moving objects (people/relatively large objects 20% of image).

When such objects appears it induces odometry drift, which causes drift of velocities (differentiated).

I there build in ways how to counter this?

Better tracking algorithm?

Adaptive masking of moving objects?

Using only ground points for estimation of odometry?

Thanks.

1 Like
2

Hi @adast
Welcome to the Stereolabs community.

What version of the ZED SDK are you using? Is it the latest v5.0.7?

3

I am using the latest version.

I was able to improve odometry in complex scenes by modifying this parameter: pos_tracking/depth_min_range. I set it to 2 meters.

But I am wondering, is there any better solution?

4

The solution that works in your case is always the best solution.
We provide many different tuning parameters such that everyone can find the setup that best performs in its specific case.