Method

BoofCV: Stereo Quad Match P3P [st] [BoofCV-SQ3]
http://boofcv.org/index.php?title=Visual_Odometry

Submitted on 23 Jan. 2013 19:43 by
Peter Abeles (BoofCV)

Running time:0.14 s
Environment:1 core @ 2.5 Ghz (Java)

Method Description:
One of three stereo visual odometry algorithms in BoofCV, a Java based computer vision library. Motion is estimated between two consecutive frames. Epilpolar constraints and RANSAC are used to remove false associations. Corner features are detected and described with SURF. Motion estimated with P3P and iterative refinement.
Parameters:
- Shi-Tomasi Corners
- SURF descriptor modified for speed (see BoofCV)
- Stereo-Quad-PnP algorithm
- BoofCV Alpha v0.13
Latex Bibtex:

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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