The KITTI Vision Benchmark Suite

Method

[st] RotRocc+ [RotRocc+]

Submitted on 20 May. 2017 15:48 by
Martin Buczko (rmr, TU Darmstadt)

Running time:		0.25 s
Environment:		2 cores @ 2.0 Ghz (C/C++)

Method Description:

The method is described in detail in my
dissertation:

https://www.shaker.de/de/content/catalogue/Eleme
nt.asp?ID=&Element_ID=57426&Mode=PageFrame

https://www.shaker.de/de/content/catalogue/index
.asp?lang=de&ID=8&ISBN=978-3-8440-6108-
6&search=yes

The Outlier core is based on RotRocc:

https://www.researchgate.net/publication/3097319
85_Flow-
Decoupled_Normalized_Reprojection_Error_for_Visu
al_Odometry

which was extended by our new model-based self-
validation:

https://www.researchgate.net/publication/3264268
03_Self-
Validation_for_Automotive_Visual_Odometry

Parameters:

combination=on.

Latex Bibtex:

@inproceedings{Buczko2016ITSC,
author = "Martin Buczko and Volker Willert",
title = "Flow-Decoupled Normalized Reprojection
Error for Visual Odometry",
booktitle="19th IEEE Intelligent Transportation
Systems Conference (ITSC)",
year="2016"}
@inproceedings{Buczko2018ITSC,
author = "Martin Buczko and Volker Willert and
Julian Schwehr and Jürgen Adamy",
title = "Self-Validation for Automotive Visual
Odometry",
booktitle="IEEE Intelligent Vehicles Symposium
(IV)",
year="2018"}
@phdthesis{Buczko2018Diss,
author = "Martin Buczko",
title = "Automotive Visual Odometry",
school= "TU Darmstadt",
year = "2018"}

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.