You’re reading an older version of the Slamcore SDK documenation. The latest one is 23.04.
Tracking Information
Slamcore reports two types of tracking related information:
The current SLAM Tracking Status at each frame
Occasional SLAM Events which occur and affect pose estimation
Tracking Status
Tracking status indicates the instantaneous state of a pose estimation, explained in the table below.
Tracking Status |
Description |
|
---|---|---|
0 |
Not Initialised |
The system has not discovered sufficient landmarks to begin tracking. |
1 |
Tracking OK |
Tracking is OK. |
2 |
Tracking LOST |
The system can not locate sufficient landmarks to continue tracking. |
Below is a state transition flow diagram of the tracking status on SLAM.
When SLAM is running, the status should be fixed to Tracking OK most of the time. Otherwise, there may be an issue with the tracking, due to environments that are too dark, featureless walls or insufficient landmarks within a threshold distance.
Pose estimates when the system is Not Initialised or Tracking LOST are to be considered unreliable.
SLAM Events
SLAM Events report the events that are triggered at the current frame in our
algorithm. Unlike the tracking status, multiple SLAM Events may occur in the
same frame. In frames where no SLAM Event is reported, the trajectory file
reports “None” in the slam_events
column (see Guide to Trajectories).
SLAM Event |
Description |
|
---|---|---|
0 |
Relocalisation |
The system has regained tracking and recovered its position on the map. |
1 |
Loop Closure |
A loop closure is detected in this frame. |
2 |
IMU Initialization |
Initial IMU parameters have been evaluated. |