BaptisteHudyma/RGB-D-SLAM

Use a dedicated variance for camera points x/y

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#4 opened on Oct 4, 2022

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enhancementgood first issue

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Description

The variance of the x and y of detected points is constant. It should be a model of error that increases when getting close to the borders, where the pixels are most distorted.

Contributor guide

Research direction
Study camera distortion models (e.g., radial distortion) and derive a variance function that increases with pixel distance from the principal point. Look at existing SLAM implementations for reference.
Tech stack
None
Domain
computer visionrobotics
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Half day
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Fresh
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
60