Method

Enhanced Frame-2-Frame Stereo Odometry [st] [ESO]


Submitted on 13 Jun. 2018 23:04 by
Gijs Dubbelman (Technische Universiteit Eindhoven)

Running time:0.08 s
Environment:4 cores @ 3.0 Ghz (C/C++)

Method Description:
The algorithm is based on libviso2, a purely
frame-2-frame visual odometry engine, and
besides
a full CPU multi-threaded implementation
(exploiting pipeline and data parallelism) it
holds the following major improvements:
- auto keyframing for rotation
- separate estimators for translation and
rotation
- adaptive inertia-aware RANSAC
- inertia aware non-linear optimization
- point re-balancing
The average runtime per frame is 0.08 seconds
and
never exceeds 0.1 seconds.
More details will be provided in a publication.

Parameters:
Will be provided with our source code.
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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