The KITTI Vision Benchmark Suite

Method

Object-Aware Bundle Adjustment For Correcting Monocular Scale Drift [OABA]

Submitted on 12 May. 2015 05:33 by
Duncan Frost (Oxford Robotics)

Running time:		0.5 s
Environment:		1 core @ 3.5 Ghz (C/C++)

Method Description:

Monocular Slam with local bundle adjustment
supplemented with minimally parametrized objects.

Parameters:

Object Extent = 1.2

Latex Bibtex:

@INPROCEEDINGS{Frost2016ICRA,
author = {Duncan P. Frost and Olaf Kähler and
David W. Murray},
title = {Object-Aware Bundle Adjustment for
Correcting Monocular Scale Drift},
booktitle = {Proceedings of the International
Conference on Robotics and Automation (ICRA)},
year = {2012}
}

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.