The KITTI Vision Benchmark Suite

Method

Visual odometry with bundle adjustment [st] [VoBa]

Submitted on 15 Apr. 2016 17:35 by
JP Tardif (Carnegie Mellon University)

Running time:		0.1 s
Environment:		1 core @ 2.0 Ghz (C/C++)

Method Description:

Visual odometry with local bundle adjustment and
corner features.

Parameters:

bundle adjustment window=3

Latex Bibtex:

@inproceedings{Tardif2010IROS,
author = {Jean{-}Philippe Tardif and
Michael David George and
Michel Laverne and
Alonzo Kelly and
Anthony Stentz},
title = {A new approach to vision-aided inertial navigation},
booktitle = {2010 {IEEE/RSJ} International Conference on
Intelligent Robots and
Systems, October 18-22, 2010, Taipei, Taiwan},
pages = {4161--4168},
year = {2010},
crossref = {DBLP:conf/iros/2010},
url = {http://dx.doi.org/10.1109/IROS.2010.5651059},
doi = {10.1109/IROS.2010.5651059},
timestamp = {Mon, 11 May 2015 16:37:25 +0200},
biburl = {http://dblp2.uni-
trier.de/rec/bib/conf/iros/TardifGLKS10},
bibsource = {dblp computer science bibliography,
http://dblp.org}
}

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.