I’m using Zed2i camera outdoor with the zed_ros_wrapper (ros melodic). When I measure the estimated distance traveled by the camera in an empty parking, the estimated distance is half the real distance.
When I do the same test on a parking with cars, the estimated distance is correct.
I guess the estimated odometry is not correct because there is no reference point in the empty parking while cars are good reference points for the computation when the parking is not empty. Is it correct ?
What is the best position for the camera to compute this visual odometry ?
Thanks for your answer !
I tried but it still gives the same issue.
What I don’t understand is that the odometry covariance stays quite low (x10^-6 or 7) even when it drifts a lot. Is it normal ? What do you suggest ?
@avanmalleghem can you provide two frames, one of the empty parking and the other of the full parking, so I can compare them and understand how to improve the results in the first condition?