helperTrackLocalMap error with Monocular SLAM

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Sashamaru John
Sashamaru John el 15 de Mayo de 2020
Editada: cui,xingxing el 29 de Nov. de 2022
Hi everyone,
I have run the Monocular SLAM (https://www.mathworks.com/help/vision/examples/monocular-visual-simultaneous-localization-and-mapping.html.) with Matlab 2020a, and I have tried some datasets, e.g., the TUM dataset in the tutorial and the Kitti dataset. How, I have got the following error.
Error using worldToImage
Expected worldPoints to be nonempty.
Error in worldToImage (line 83)
validateattributes(worldPoints, {'double', 'single'}, ...
Error in helperTrackLocalMap (line 63)
projectedPoints = worldToImage(intrinsics, R, t, localMapPoints);
Error in main (line 218)
helperTrackLocalMap(mapPointSet, vSetKeyFrames, mapPointsIdx, ...
I have found that this error is due to few keypoints. I did not change anything of the tutorial except changing the name of the helper function helperSURFFeatureExtractorFunction to helperExtractorFunction (helperExtractorFunction ). I was wondering if anyone else can run the tutorial successfully. Any help would be appreciated.
  6 comentarios
Qu Cao
Qu Cao el 20 de Mayo de 2020
Sashamaru, great to hear that tuning the parameter works!
Could you let me know which parameter of the two you changed?
Sashamaru John
Sashamaru John el 21 de Mayo de 2020
Both work for me. Changing the first seems to be better than the second.

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Respuestas (1)

Qu Cao
Qu Cao el 19 de Ag. de 2020
Answer pasted from comments:
Please try tunning the parameters to see if it helps improve the robustness:
  • In helperIsKeyFrame, set the minimum number of tracked map points to a larger value, say 90;
  • In helperCreateNewMapPoints, change 'MaxRatio' to a smaller value, say 0.7
  2 comentarios
jose daniel hoyos giraldo
jose daniel hoyos giraldo el 27 de Dic. de 2021
hello. Can you give me a hand improving the robustness, because I'm using a low resolution camera. Do you suggest change the line (in helperIsKeyFrame):
tooFewMapPoints = numel(mapPointsIndices) < 100;
for
tooFewMapPoints = numel(mapPointsIndices) < 500;
and the line:
tooFewTrackedPoints = numel(mapPointsIndices) < 0.9 * numPointsRefKeyFrame;
for
tooFewTrackedPoints = numel(mapPointsIndices) < 0.95 * numPointsRefKeyFrame;
Or similar?
On the other hand, in helperCreateNewMapPoints, u suggest use a smaller value of 'MaxRatio', but at mathworks it says "Use the max ratio for rejecting ambiguous matches. Increase this value to return more matches." (https://la.mathworks.com/help/vision/ref/matchfeatures.html).Then, if we have poor image quality and issues with a low number of points, why do you suggest decrease this value?.
Thanks for your help!
cui,xingxing
cui,xingxing el 29 de Nov. de 2022
Editada: cui,xingxing el 29 de Nov. de 2022
I think this is more of an empirical threshold that is dynamically adjusted to your own images @jose daniel hoyos giraldo ,You can refer to the thresholds designed in the latest version of R2022b for the exact TUM dataset

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