Obtaining Best Performance

In order to obtain the same performance as shown in the videos, consider the following:

• Use a global shutter camera (we use a grayscale matrix-vision bluefox camera, WVGA resolution).
• Set the framerate of the camera as high as possible (we use 70fps).
• Depending on your camera driver it might be better to manually fix the shutter speed and gain to avoid flickering.
• Use a lens with large field of view (we have approx. 110 deg).
• Calibrate the camera with the ATAN model and make sure you have a very low reprojection error (~0.1px).
• For higher robustness, you can increase the number of tracked features by setting the parameter svo/max_fts to 180.
• Avoid motions of pure rotation.
• The keyframe selection is currently designed for downlooking cameras. Forward motions are not performing well at the moment.