Method

Stereo Orientation Prior Visual Odometry [SOPVO]
https://github.com/arclab-hku/SOPVO

Submitted on 10 Feb. 2021 05:15 by
Ran DUAN (Hong Kong Polytechnic University)

Running time:0.01 s
Environment:8 cores @ 3.0 Ghz (C/C++)

Method Description:
These results are used for the under view paper:
Stereo Orientation Prior for UAV Robust and Accurate
Visual Odometry. Only stereo is used in this
odometry, the loop closure detection and BA were
deactivated.
Parameters:
No
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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