Estimation of the distance between 2 frames - Stereo camera - Visual Odometry

Hi, i'm Baptiste, a french student in last year of Engineering school.

I'm actually studying for a double titulating in an University, in Argentina.

I have questions, because i'm new in Matlab. I'm working on a project about a 'Visual and Inertial Odometry', using 2 cameras of a robot.

For the moment, i need to calculate the distance traveled between 2 frames.

For that, i recovered the features of my 2 images of a frames, filtered the features and matched them.

Now i have cornerPoints strutures (Matlab Type) composed by a Location (33x2), Metric (33x1) and Count (33).

I'm searching for computing this (Using Euclidian distance ?) to get the distance traveled by my robot during a frame.

How may i do this with my "cornerPoints" Objects ? Using pdist2() ? May i use the triangularisation (2D-triangularisation) ?

Thank a lot for your future answers ! Baptiste.

Answer 1

[BAPTISTE PICARD]

Ok,

I worked about my project and i maded my calculation using a triangulation of my stereo cameras.

For this i setted up my camera into matlab using 2 "cameraParameters" and a "stereoParameters"

Using that, i studied the function "triangulate" using 2 matched points matrix of the same frame, and my object stereoParameters". I have some results i can't verify for the moment, but it seems to be the right approch to get the distance between each frames.

I hope it can helps someone :)