Method

DS-SLAM2: Direct Sparse SLAM with Stereo Camera [DS-SLAM2]


Submitted on 3 Nov. 2020 14:36 by
Peichu Ye (Guangdong Univesity of Technology)

Running time:0.2 s
Environment:4 cores @ >3.5 Ghz (C/C++)

Method Description:
We proposed a two-stage method to calculate the
initial depth of each point using stereo camera.
Static stereo constrains are combined to the
tracking module. Loop detection is implemented in
our system.
Parameters:
Stereo weight = 2.0
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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