The KITTI Vision Benchmark Suite

Method

Joint Forward-Backward Visual Odometry [st] [JFBVO]

Submitted on 28 Jan. 2019 12:11 by
Raghav Sardana (CSIR-Central Scientific Instruments Organisation)

Running time:		0.05 s
Environment:		1 core @ 3.4 Ghz (C/C++)

Method Description:

This framework is based on LIBVISO2. It
utilizes
both forward and backward motion for visual
odometry.

Parameters:

default parameters

Latex Bibtex:

@inproceedings{10.1145/3352593.3352651,
author = {Sardana, Raghav and Kottath, Rahul
and Karar, Vinod and Poddar, Shashi},
title = {Joint Forward-Backward Visual
Odometry for Stereo Cameras},
year = {2019},
isbn = {9781450366502},
publisher = {Association for Computing
Machinery},
address = {New York, NY, USA},
url =
{https://doi.org/10.1145/3352593.3352651},
doi = {10.1145/3352593.3352651},
booktitle = {Proceedings of the Advances in
Robotics 2019},
articleno = {Article 41},
numpages = {5},
keywords = {Visual Odometry, Motion
Estimation, Navigation, Joint Forward
Backward VO},
location = {Chennai, India},
series = {AIR 2019}
}

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.