Method

Example-based 3D trajectory extraction using RJ-MCMC particle filtering [EB3DTE+RJMCM]


Submitted on 3 Oct. 2016 16:56 by
Zeyd Boukhers (University of Siegen)

Running time:0.64 s
Environment:1 core @ 2.5 Ghz (Matlab)

Method Description:
The method proposes a scale drift correction by
estimating the depth of detected
segments on planar surface (e.g, road, building,
etc) using RJ-MCMC particle filtering
Parameters:
no parameters
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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