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chaiein
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what are the different kinds of input can be given to make a pose graph?
I have a sequence of images from a camera, I need to create a pose graph.Greg Bernhardt said:Can you give a little more background information?
To create a pose graph from an image descriptor, you first need to extract features from the image. This can be done using techniques such as SIFT, SURF, or ORB. These feature extraction algorithms will identify and extract key points and descriptors from the image, which can then be used to create the pose graph.
After extracting features from multiple images, the next step is to match the features between the images. This involves finding corresponding features in different images and establishing a match based on their descriptors. This can be done using techniques such as nearest neighbor matching or RANSAC.
Once the features have been matched between images, the camera pose can be estimated using a method called PnP (Perspective-n-Point). This involves using the feature correspondences and camera intrinsic parameters to calculate the 6 degrees of freedom (6DoF) pose of the camera.
Loop closure is an important step in creating a pose graph as it helps to correct any accumulated errors in the estimated camera poses. This is done by identifying and closing loops in the graph, which can be achieved using techniques such as bag-of-words or place recognition.
To improve the accuracy of the pose graph, it can be optimized using a technique called bundle adjustment. This involves minimizing the reprojection error between the 3D points and their corresponding 2D image features. Bundle adjustment can be done using methods such as Levenberg-Marquardt or Gauss-Newton optimization.