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Localisation accuracy of semi-dense monocular SLAM

  • Understanding the factors that influence the accuracy of visual SLAM algorithms is very important for the future development of these algorithms. So far very few studies have done this. In this paper, a simulation model is presented and used to investigate the effect of the number of scene points tracked, the effect of the baseline length in triangulation and the influence of image point location uncertainty. It is shown that the latter is very critical, while the other all play important roles. Experiments with a well known semi-dense visual SLAM approach are also presented, when used in a monocular visual odometry mode. The experiments show that not including sensor bias and scale factor uncertainty is very detrimental to the accuracy of the simulation results.

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Author of HS ReutlingenRätsch, Matthias
Erschienen in:Videometrics, range imaging, and applications XIV : 26-27 June 2017, Munich, Germany. - (Proceedings of SPIE ; Volume 10332)
Publisher:SPIE. The International Society for Optical Engineering
Place of publication:Bellingham, Washington
Editor:Fabio Remondino
Document Type:Conference proceeding
Publication year:2017
Tag:LaTeX; SPIE proceedings; manuscript format; template
Page Number:10
First Page:10332OH-1
Last Page:10332OH-10
PPN:Im Katalog der Hochschule Reutlingen ansehen
DDC classes:620 Ingenieurwissenschaften und Maschinenbau
Open access?:Nein