B-SLAM-SIM: A Novel Approach to Evaluate the Fusion of Visual SLAM and GPS by Example of Direct Sparse Odometry and Blender

Kalisz A, Particke F, Penk D, Hiller M, Thielecke J (2019)

Publication Language: English

Publication Type: Conference contribution, Conference Contribution

Publication year: 2019

Pages Range: 816-823

Conference Proceedings Title: Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5: VISAPP

Event location: Prag, Tschechische Republik CZ

ISBN: 978-989-758-354-4

DOI: 10.5220/0007375308160823

Abstract

In order to account for sensor deficiancies, usually a multi-sensor approach is used where various sensors complement each other. However, synchronization of highly accurate Global Positioning System (GPS) and video measurements requires specialized hardware which is not straightforward to set up. This paper proposes a full simulation environment for data generation and evaluation of Visual Simultaneous Localization and Mapping (Visual SLAM) and GPS based on free and open software. Specifically, image data is created by rendering a virtual environment where camera effects such as Motion Blur and Rolling Shutter can be added. Consequently, a ground truth camera trajectory is available and can be distorted via additive Gaussian noise to understand all parameters involved in the use of fusion algorithms such as the Kalman Filter. The proposed evaluation framework will be published as open source online at https://master.kalisz.co for free use by the research community.

Authors with CRIS profile

Adam Kalisz Lehrstuhl für Informationstechnik mit dem Schwerpunkt Kommunikationselektronik (Stiftungslehrstuhl) Florian Particke Lehrstuhl für Informationstechnik mit dem Schwerpunkt Kommunikationselektronik (Stiftungslehrstuhl) Dominik Penk Chair of Visual Computing Markus Hiller Lehrstuhl für Informationstechnik mit dem Schwerpunkt Kommunikationselektronik (Stiftungslehrstuhl) Jörn Thielecke Professur für Informationstechnik (Schwerpunkt Ortsbestimmung und Navigation)

How to cite

APA:

Kalisz, A., Particke, F., Penk, D., Hiller, M., & Thielecke, J. (2019). B-SLAM-SIM: A Novel Approach to Evaluate the Fusion of Visual SLAM and GPS by Example of Direct Sparse Odometry and Blender. In SciTePress (Eds.), Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5: VISAPP (pp. 816-823). Prag, Tschechische Republik, CZ.

MLA:

Kalisz, Adam, et al. "B-SLAM-SIM: A Novel Approach to Evaluate the Fusion of Visual SLAM and GPS by Example of Direct Sparse Odometry and Blender." Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISAPP), Prag, Tschechische Republik Ed. SciTePress, 2019. 816-823.

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