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Localisation accuracy of semi-dense monocular SLAM
Author(s): Kristiaan Schreve; Pieter G. du Plessies; Matthias Rätsch
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Paper Abstract

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 shows that not including sensor bias and scale factor uncertainty is very detrimental to the accuracy of the simulation results.

Paper Details

Date Published: 26 June 2017
PDF: 10 pages
Proc. SPIE 10332, Videometrics, Range Imaging, and Applications XIV, 103320H (26 June 2017); doi: 10.1117/12.2270163
Show Author Affiliations
Kristiaan Schreve, Stellenbosch Univ. (South Africa)
Pieter G. du Plessies, Stellenbosch Univ. (South Africa)
Matthias Rätsch, Reutlingen Univ. (Germany)


Published in SPIE Proceedings Vol. 10332:
Videometrics, Range Imaging, and Applications XIV
Fabio Remondino; Mark R. Shortis, Editor(s)

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