The KITTI Vision Benchmark Suite

Method

OptimalTranslation For Essential Matrix based Stereo Visual Odometry [ESVO]

Submitted on 2 Sep. 2020 02:07 by
Nguyen Hung (Le Quy Don Techinical Univeristy)

Running time:		1 s
Environment:		1 core @ 2.5 Ghz (C/C++)

Method Description:

Optimal Translation Estimation for Essential matrix
based stereo VO

Parameters:

100

Latex Bibtex:

@INPROCEEDINGS{9377372,
author={Nguyen, Huu-Hung and Nguyen, The-Tien
and Tran, Cong-Manh and Phung, Kim-Phuong and
Nguyen, Quang-Thi},
booktitle={2021 15th International Conference on
Ubiquitous Information Management and
Communication (IMCOM)},
title={A novel translation estimation for
essential matrix based stereo visual odometry},
year={2021},
volume={},
number={},
pages={1-6},
doi={10.1109/IMCOM51814.2021.9377372}}

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.