Method

OV2SLAM [st] [OV2SLAM]
https://github.com/ov2slam/ov2slam

Submitted on 22 Sep. 2020 15:22 by
Maxime FERRERA (ONERA)

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

Method Description:
Stereo VSLAM
Parameters:
200 kps, no LC
Latex Bibtex:
@article{fer2021ov2slam,
title={{OV2SLAM} : A Fully Online and Versatile Visual {SLAM} for Real-Time Applications},
author={Ferrera, Maxime and Eudes, Alexandre and Moras, Julien and Sanfourche, Martial and {Le Besnerais}, Guy.},
journal={IEEE Robotics and Automation Letters},
year={2021}
}

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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