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Tracking
This page summarizes the purpose of the parameters that affect the tracking module. Please, consider the linked references for further details on how the parameters are used by the tracking algorithm.
If you plan to modify or extend the tracking module, consider having a look at the documentation.
- Basic parameters
- Trajectory estimation
- LKSE3
- [OPTIONAL] Robustness
- [OPTIONAL] Visualizations
- Further references
| Parameter | Description |
|---|---|
| discard_events_when_idle | whether not to collect events when idle |
| Parameter | Description |
|---|---|
| max_event_rate | events processed are randomly sampled so that the rate is below this value |
| events_per_kf | events required for a new keyframe |
| frame_size | window of events considered |
| step_size | minimum number of new events to wait before a pose update |
| noise_rate | if events rate is below this value, the frame is skipped |
| pose_mean_filter_size | median filter size (poses are median filtered) |
| Parameter | Description |
|---|---|
| batch_size | batch-gradient descent batch size |
| max_iterations | maximum number of iterations in the optimization |
| map_blur | sigma of the gaussian filter applied to the reprojected map |
| pyramid_levels | number of pyramid levels used in the KLT process |
| weight_scale_translation | weight used in the translation error |
| weight_scale_rotation | weight used in the rotation error |
Please refer to the documentation to go deeper in the details of how these parameters are used in our implementation of the Lucas-Kanade tracker based on the SE3 group, or consider reading the linked references.
To further improve the robustness of the pipeline, it is possible to introduce triggering strategies when specific conditions are met.
| Parameter | Description |
|---|---|
| min_map_size | minimum number of map points to proceed with the update |
| min_n_keypoints | minimum number of extracted keypoints (LKSE3::keypoints_) required for a reliable tracking |
These parameters are used to customize the images juxtaposing the reprojected map and the aggregated events frame.
| Parameter | Description |
|---|---|
| event_map_overlap_rate | publishing rate of the visualizations |
| max_depth | maximum expected depth in the scene (it is recommended to use voxel grid size) |
| min_depth | minimum expected depth in the scene (it is recommended to use voxel grid size) |
The following parameters describes some of these conditions.
| Parameter | Description |
|---|---|
| min_map_size | minimum number of map points to proceed with the update |
| min_n_keypoints | minimum number of extracted keypoints (LKSE3::keypoints_) required for a reliable tracking |
To fully understand how the parameters are used in the tracking module, please refer to: