ON CONSTRUCTION OF A RELIABLE GROUND TRUTH FOR EVALUATION OF VISUAL SLAM ALGORITHMS

ON CONSTRUCTION OF A RELIABLE GROUND TRUTH FOR EVALUATION OF VISUAL SLAM ALGORITHMS

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 trajecto...

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Main Authors: Jan Bayer, Petr Čížek, Jan Faigl
Format: Article
Language:English
Published: CTU Central Library 2016-11-01
Series:Acta Polytechnica CTU Proceedings
Online Access:https://ojs.cvut.cz/ojs/index.php/APP/article/view/3923
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spelling doaj-1787ff4172654dc1b111142559b765652020-11-24T23:16:52ZengCTU Central LibraryActa Polytechnica CTU Proceedings2336-53822016-11-01601510.14311/APP.2016.6.00013477ON CONSTRUCTION OF A RELIABLE GROUND TRUTH FOR EVALUATION OF VISUAL SLAM ALGORITHMSJan Bayer0Petr Čížek1Jan Faigl2Czech Technical University, Faculty of Electrical Engineering, Technicka 2, Prague, Czech RepublicCzech Technical University, Faculty of Electrical Engineering, Technicka 2, Prague, Czech RepublicCzech Technical University, Faculty of Electrical Engineering, Technicka 2, Prague, Czech RepublicIn 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.https://ojs.cvut.cz/ojs/index.php/APP/article/view/3923
collection DOAJ
language English
format Article
sources DOAJ
author Jan Bayer
Petr Čížek
Jan Faigl
spellingShingle Jan Bayer
Petr Čížek
Jan Faigl
ON CONSTRUCTION OF A RELIABLE GROUND TRUTH FOR EVALUATION OF VISUAL SLAM ALGORITHMS
Acta Polytechnica CTU Proceedings
author_facet Jan Bayer
Petr Čížek
Jan Faigl
author_sort Jan Bayer
title ON CONSTRUCTION OF A RELIABLE GROUND TRUTH FOR EVALUATION OF VISUAL SLAM ALGORITHMS
title_short ON CONSTRUCTION OF A RELIABLE GROUND TRUTH FOR EVALUATION OF VISUAL SLAM ALGORITHMS
title_full ON CONSTRUCTION OF A RELIABLE GROUND TRUTH FOR EVALUATION OF VISUAL SLAM ALGORITHMS
title_fullStr ON CONSTRUCTION OF A RELIABLE GROUND TRUTH FOR EVALUATION OF VISUAL SLAM ALGORITHMS
title_full_unstemmed ON CONSTRUCTION OF A RELIABLE GROUND TRUTH FOR EVALUATION OF VISUAL SLAM ALGORITHMS
title_sort on construction of a reliable ground truth for evaluation of visual slam algorithms
publisher CTU Central Library
series Acta Polytechnica CTU Proceedings
issn 2336-5382
publishDate 2016-11-01
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.
url https://ojs.cvut.cz/ojs/index.php/APP/article/view/3923
work_keys_str_mv AT janbayer onconstructionofareliablegroundtruthforevaluationofvisualslamalgorithms
AT petrcizek onconstructionofareliablegroundtruthforevaluationofvisualslamalgorithms
AT janfaigl onconstructionofareliablegroundtruthforevaluationofvisualslamalgorithms
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