Method

semi-direct lidar-assisted visual odometry [la] [SD-DEVO]
[Anonymous Submission]

Submitted on 12 Oct. 2021 14:22 by
[Anonymous Submission]

Running time:0.06 s
Environment:1 cores @ 3.6 Ghz (C/C++)

Method Description:
The semi-direct lidar-assisted depth-enhanced
visual
odometry which based on the code of monocular DSO.
Parameters:
sliding window size = 7
number of extracted high-gradient points/per frame
= 500
iteration = 5
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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