The KITTI Vision Benchmark Suite

Method

Stereo Structure from Motion [st] [StereoSFM]
http://sourceforge.net/projects/qcv/

Submitted on 26 May. 2015 16:41 by
Hernan Badino (Oculus VR)

Running time:		0.02 s
Environment:		2 cores @ 2.5 Ghz (C/C++)

Method Description:

Visual odometry is computed minimizing the reprojection error between consecutive images. Outliers are handled by a robust iterative least squares approach using numerical optimization.

Parameters:

\Detector=Harris
\Tracker=KLT
\NumTrackedFeatures=1024

Latex Bibtex:

@inproceedings{Badino2011MVA,
author = "Hern\'{a}n Badino and Takeo Kanade",
title = "A Head-Wearable Short-Baseline Stereo System for the Simultaneous Estimation of Structure and Motion",
booktitle = "IAPR Conference on Machine Vision Application",
year = "2011",
month = "June",
pages = "185-189"
}

Detailed Results

From all test sequences (sequences 11-21), our benchmark computes translational and rotational errors for all possible subsequences of length (5,10,50,100,150,...,400) meters. Our evaluation ranks methods according to the average of those values, where errors are measured in percent (for translation) and in degrees per meter (for rotation). Details for different trajectory lengths and driving speeds can be found in the plots underneath. Furthermore, the first 5 test trajectories and error plots are shown below.