Sorry I forgot to reply all: Thanks again Kurt, > > Do you know if this Minoru setup will work with vslam? I remember reading > somewhere on ROS wiki that the timestamp from the two camera should be > exactly the same, and it is said on the Minoru project website that those > two webcams are not synchronized. > > Best, > > -M.A > > > > On Thu, Oct 28, 2010 at 2:07 PM, Kurt Konolige wrote: > >> M.A., I remember this link for a stereo webcam: >> >> http://code.google.com/p/sentience/wiki/MinoruWebcam >> >> Reasonable baselines for indoors are 6 - 10 cm; wide-angle lenses also >> help. >> >> Cheers --Kurt >> >> >> On 10/28/2010 11:21 AM, Anh Nguyen wrote: >> >>> Hi Kurt, >>> >>> Thanks for the helpful answers. Look like cheap stereo vision is not an >>> easy option, especially with my limited hardware skill. >>> >>> Can you extrapolate a bit more on augmenting VSLAM with odometry or >>> IMUs. I have the odometry reading for my robot. How do I configure VSLAM >>> to work with one camera and combine odometry / IMU with VSLAM (what >>> would be a simple algorithm for that)? >>> >>> From what I read, I also assume that IMU would work indoor, is that >>> correct? >>> >>> Also, if I go with stereo camera,is there any requirement regarding the >>> baseline, resolution, frame rate... for making it work with existing >>> VSLAM stack? >>> >>> Best, >>> >>> -M.A >>> >>> >>> On Thu, Oct 28, 2010 at 1:08 AM, Kurt Konolige >>> > wrote: >>> >>> M.A. - >>> >>> VSLAM currently works only with stereo cameras. VSLAM with monocular >>> cameras is much less robust, unless it is augmented with other sensors >>> such as odometry or IMUs. >>> >>> Using two webcams to make a stereo pair is difficult. You have to: >>> >>> 1. Make sure they're rigidly mounted >>> 2. Synchronize them >>> >>> Synchronization is difficult for standard webcams. At the moment I >>> don't think there are any cheap off-the-shelf stereo cams. Here's one >>> reference for a do-it-yourself: >>> >>> http://sszymczy.rootnode.net/index.php?menu=projects >>> >>> It would be nice to do some kind of VSLAM on the Create using odometry >>> to help, but that would take some work. >>> >>> Cheers --Kurt >>> >>> On 10/27/2010 9:46 PM, Anh Nguyen wrote: >>> > Hi everyone, >>> > >>> > I have a few questions about VSLAM. I am new to robotics and most >>> of its >>> > terminologies so I would appreciate any references that may >>> explain the >>> > background needed to understand your answer :) >>> > >>> > - Can I use ROS VLSAM stack using only one camera (a webcam on my >>> > netbook to be more specific). >>> > - If so how do I configure VSLAM to get this to work? >>> > - If not, can I add another external webcam and use them as a >>> stereo >>> > video system or do I have to purchase some commercial stereo >>> camera? If >>> > I have to purchase a commercial system, is there any good one for >>> < >>> > $400 range? >>> > >>> > Has anyone tried to get VSLAM to work with iRobot Create? I spent >>> the >>> > last few weeks creating a reduced version of the PrairieDog stack >>> that >>> > work without the laser range finder and the stargazer, and mapped >>> my >>> > office using the robot's bumper sensor, only to realize that I >>> cannot >>> > rely solely on the robot's encoders for accurate localization. >>> > >>> > Thanks a lot, >>> > >>> > -M.A >>> > >>> > >>> > >>> > _______________________________________________ >>> > ros-users mailing list >>> > ros-users@code.ros.org >>> >>> > https://code.ros.org/mailman/listinfo/ros-users >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> >>> https://code.ros.org/mailman/listinfo/ros-users >>> >>> >>> >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >> >