A question about the dynamic objects。 about limo HOT 8 CLOSED

Hi there,

thanks for your interest in my work :)
Outliers in sense of feature tracks that have very high error to the solution are down-weighted using an M-Estimator. Moreover to make the optimization faster, I employ a trimmed-least-squares like optimization strategy, so after 4 iterations of the solver I erase the a percentage of measurements with high error (typically 5-10%).

So if the dynamic objects are small enough (majority of the measurements is on the static scene), it should work. You can also play with the m-estimator parameter (https://github.com/johannes-graeter/limo/blob/master/demo_keyframe_bundle_adjustment_meta/launch/keyframe_ba_monolid.launch , line 45). Note that for depth and reprojection error the "robust_loss_threshold" must be tuned individually.

I tried that on KITTI and got a translation error around 1.05%.

To do that you can just deactivate the "semantic_labels" node in kitti_standalone.launch (https://github.com/johannes-graeter/limo/tree/master/demo_keyframe_bundle_adjustment_meta/launch) and hand over a different tracklets_subscriber_topic to "keyframe_ba_monolid.launch".

If you tried it please share your result :)

Regards,

Johannes

from limo.

Thanks for your detail answers! I will remember these valuable suggestions.Once I have tested limo on my own car, I will give you feedback in time.

from limo.

Hi there,
motivated by your issue I am testing limo at the moment on our own car without semantics.
Since the algorithm was developed on KITTI I ran into a few minor challenges, which however seem to be hard to solve if you are new to the software stack.
I will make it work on our car, fix the issues and make a small tutorial how to implement it with your own data. Probably I will need two weeks for it in order to be tested properly.

Cheers,
Johannes

from limo.

It runs nicely without the semantics :) please wait a little longer until the update of the repo :)

from limo.

OK. Thanks! Wait for your update!

from limo.

It runs nicely without the semantics :) please wait a little longer until the update of the repo :)

waitting.

Hi,

I simply provide all pixels with the same label. Is it a solution without semantic labels?

from limo.

If you don't assign the labels they should be initialized to -1 and hence all treated equally. If you assign an arbitrary one, it risk to be one of the outlier labels.

from limo.

There are two screen shots in the following that recorded the information when I deactivated the launch about semantic labels. The first one recorded the situation where limo is running in kitti dataset, the second is running in the demo bag provided by you. I found that some nodes seem not to work well. In ros, this situation happens usually when the required topic is not published correctly. I think that I must miss some important step, I really urge to run limo without semantic labels. It will be grateful to accept your any advice.

from limo.