Low overlap stereo cameras

[mateosss]

I am trying to run VR datasets with low overlap between the stereo fisheye cameras. And while monocular, monocular-imu seem to track properly, stereo fails likely due to the pre rectification step that occurs when loading datasets. Do you think there can be a reasonable way of making Snake-SLAM run on these datasets without reworking the stereo matcher? SpectacularAI/HybVIO#22 has the same issue

Example frame with overlap in green:

If interested to reproduce the issue you can find the example dataset I am trying to run here.

Since these datasets use radial-tangential8, a small modification to saiga is needed to add the extra k3,k4,k5,k6 parameters.

[darglein]

You are right, stereo fisheye is not supported out of the box. It would be definitely more difficult to implement than standard pinhole stereo, because finding the stereo matches is a lot harder. For "soft" fisheye cameras the current system could still work if the rectification gives decent results.

I would suggest you try out the rectification and the stereo matching by its own to see if works well. Unfortunately I don't have much time to try stuff out myself. So I wish you the best of luck with your project :).