The KITTI Vision Benchmark Suite

Stereo Visual Odometry using a 3 point algorithm and RANSAC for computing the relative motion between consecutive frames. We use the Levenberg-Marquardt algorithm for the nonlinear optimization.

A Local Bundle Adjusment sliding window of 5 frames is used to refine the most recent 3 frames.

Local Bundle Adjustment Window
Nk=5
nk=3

@phdthesis{Alcantarilla11phd,
author = {P. F. Alcantarilla},
title = {Vision Based Localization: From Humanoid Robots to Visually Impaired People},
month = {October},
year = {2011},
school = {University of Alcalá},
address = {Alcalá de Henares, Madrid, Spain}
}

@inproceedings{Alcantarilla12icra,
author = {P.F. Alcantarilla and J.J. Yebes and J. Almazán and L.M. Bergasa},
title = {On Combining Visual SLAM and Dense Scene Flow to Increase the Robustness of Localization and Mapping in Dynamic Environments},
booktitle = {ICRA},
location = {St. Paul, USA},
year = {2012}
}