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I would like to ask why localization accuracy (referred to tvec) is bad if I do mapping with a device (e.g., reflex camera Nikon D70s) and localization with another one (OAK D S2). In this case I get a tvec error of about 30 cm if I estimate intrinsics from EXIF with refinement. Even if I fix for the OAK D S2 intrinsics got from another 3D mapping did with this camera, the average tvec error is about 6 cm. What is the possible cause of this error?
When I do mapping and localization with the same device instead and I use for localization intrinsics (f, cx, cy, k) estimated from 3D mapping I get an error of about 3 cm (that is very good!).
Any ideas?
Many thanks to who can help me!
The text was updated successfully, but these errors were encountered:
Intrinsics estimated & refined from a single image (localization) are much less accurate than when refined from multiple ones (mapping). Inaccurate intrinsics reduce the accuracy of the estimated poses.
Changes in the imaging parameters (resolution, blur, gamma response) can introduce a small noise in the keypoint detection. 3cm vs 6cm error is a pretty small difference. You could potentially reduce this with our PixSfM https://github.com/cvg/pixel-perfect-sfm
I would like to ask why localization accuracy (referred to tvec) is bad if I do mapping with a device (e.g., reflex camera Nikon D70s) and localization with another one (OAK D S2). In this case I get a tvec error of about 30 cm if I estimate intrinsics from EXIF with refinement. Even if I fix for the OAK D S2 intrinsics got from another 3D mapping did with this camera, the average tvec error is about 6 cm. What is the possible cause of this error?
When I do mapping and localization with the same device instead and I use for localization intrinsics (f, cx, cy, k) estimated from 3D mapping I get an error of about 3 cm (that is very good!).
Any ideas?
Many thanks to who can help me!
The text was updated successfully, but these errors were encountered: