The KITTI Vision Benchmark Suite

Method

[st] RotRocc [RotRocc]

Submitted on 8 Jul. 2016 15:27 by
Martin Buczko (rmr, TU Darmstadt)

Running time:		0.3 s
Environment:		2 cores @ 2.0 Ghz (C/C++)

Method Description:

frame-to-frame method without BA, Loop Cosure.

Details can be found on Researchgate.net:

https://www.researchgate.net/publication/309731985_Flow-Decoupled_Normalized_Reprojection_Error_for_Visual_Odometry

Parameters:

rev=2

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",}

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.