On Construction of a Reliable Ground Truth for Evaluation of Visual SLAM Algorithms
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00307004" target="_blank" >RIV/68407700:21230/16:00307004 - isvavai.cz</a>
Result on the web
<a href="https://ojs.cvut.cz/ojs/index.php/APP/article/view/3923/0" target="_blank" >https://ojs.cvut.cz/ojs/index.php/APP/article/view/3923/0</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.14311/APP.2016.6.0001" target="_blank" >10.14311/APP.2016.6.0001</a>
Alternative languages
Result language
angličtina
Original language name
On Construction of a Reliable Ground Truth for Evaluation of Visual SLAM Algorithms
Original language description
In this work we are concerning the problem of localization accuracy evaluation of visual-based Simultaneous Localization and Mapping (SLAM) techniques. Quantitative evaluation of the SLAM algorithm performance is usually done using the established metrics of Relative pose error and Absolute trajectory error which require a precise and reliable ground truth. Such a ground truth is usually hard to obtain, while it requires an expensive external localization system. In this work we are proposing to use the SLAM algorithm itself to construct a reliable ground-truth by offline frame-by-frame processing. The generated ground-truth is suitable for evaluation of different SLAM systems, as well as for tuning the parametrization of the on-line SLAM. The presented practical experimental results indicate the feasibility of the proposed approach.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GJ15-09600Y" target="_blank" >GJ15-09600Y: Adaptive Informative Path Planning in Autonomous Data Collection in Dynamic Unstructured Environments</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Acta Polytechnica CTU Proceedings
ISBN
978-80-01-06022-3
ISSN
2336-5382
e-ISSN
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Number of pages
5
Pages from-to
1-5
Publisher name
Česká technika - nakladatelství ČVUT
Place of publication
Praha
Event location
Deggendorf
Event date
Sep 18, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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