Method

ReduceSLAM[st] [RPGSLAM]


Submitted on 7 Dec. 2020 07:48 by
shuai zhang (North China University of Technology)

Running time:0.1 s
Environment:2 cores @ 2.5 Ghz (C/C++)

Method Description:
This project is an improvement based on the
framework of ORBSLAM2. It mainly improves the
optimization part of the pose graph. By reducing
the pose nodes, the scale of the pose graph
optimization is effectively reduced, and the time
for the pose graph optimization is reduced, and
the accuracy is similar to ORBSLAM2.
Parameters:
maxDistance=0.5
angleThreshold=0.25
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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