Method

Fully Scaled Monocular Visual Odometry with the Assistance of Wheel Encoder [FSMVO]


Submitted on 12 Jul. 2018 11:28 by
Shuai Yang (Horizon Robotics)

Running time:0.1 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
Fully scaled monocular visual odometry by
incorporating wheel encoder and direct visual
odometry into a unified framework.
Parameters:
scale weights
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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