The KITTI Vision Benchmark Suite

Method

Stereo LSD-SLAM [st] [lc] [S-LSD-SLAM]
https://vision.in.tum.de/lsdslam

Submitted on 26 Sep. 2015 09:20 by
Jakob Engel (TUM)

Running time:		0.07 s
Environment:		1 core @ 3.5 Ghz (C/C++)

Method Description:

Fully Direct Stereo SLAM. Frames are tracked using direct image alignment with affine lighting correction, and depth is estimated by pixel-wise filtering over many independent temporal and static stereo comparisons.

Parameters:

Full SLAM (with loop-closures); Half resolution.

Latex Bibtex:

@inproceedings{Engel2015IROS,
title = "Large-Scale Direct {SLAM} with Stereo Cameras",
author = "J. Engel and J. St\"uckler and D. Cremers",
booktitle = {Int.~Conf.~on Intelligent Robot Systems (IROS)},
year = "2015"
}

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.