RGB-D Visual Odometry
Github: https://github.com/Juhyung-L/RGB-D_visual_odometry Background In a previous blog, I wrote an explanation on my implementation of a visual odometry system and I developed ( https://juhyungsprojects.blogspot.com/2023/10/visual-odometry-using-sift-feature.html ). The system used RGB image frames as its input to calculate the change in robot pose. A major shortcoming of this system was that the estimated change in the position of the robot was scale-ambiguous, meaning only the direction of motion was estimate-able, but not the magnitude. This ambiguity was a physical limitation of trying to obtain 3D information (change in x, y, z position) using a 2D input (image frames). In this blog, I will give an explanation of another visual odometry system I developed, which uses a RGB-D camera instead of a RGB camera. A RGB-D camera is basically a RGB camera with depth sensors, which allows it to obtain 3D point cloud of the scene in addition to the image. By utilizing the point cloud, th