Method

Stereo odometry with feature tracking 2 [st] [SOFT2]


Submitted on 9 Sep. 2017 13:14 by
Igor Cvisic (University of Zagreb Faculty of Electrical Engineering and Computing )

Running time:0.1 s
Environment:2 cores @ 2.5 Ghz (C/C++)

Method Description:
Feature tracking through multiple frames.
Parameters:
\inlier_threshold=1.5
Latex Bibtex:
@article{Cvisic2017JFR,
author = "Igor Cvišić and Josip Ćesić and Ivan Marković and Ivan Petrović",
title = "SOFT-SLAM: Computationally Efficient Stereo Visual SLAM for Autonomous UAVs",
journal={Journal of Field Robotics},
year = "2017",
}

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.

Test Set Average


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Sequence 11


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Sequence 12


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Sequence 13


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Sequence 14


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Sequence 15


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