Method

[st] Stereo based Localization considering Uncertainty Propagation [SLUP]
[Anonymous Submission]

Submitted on 21 Nov. 2016 17:10 by
[Anonymous Submission]

Running time:0.17 s
Environment:4 cores @ 3.3 Ghz (C/C++)

Method Description:
Localization using local bundle adjustment (LBA)
Considering uncertainty propagation.
No loop closure.
Key frame selection
Parameters:
LBA window size: 10
Interest point radius: 20 pixels
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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