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

Conference contribution
(Conference Contribution)


Publication Details

Author(s): Kalisz A, Particke F, Penk D, Hiller M, Thielecke J
Editor(s): SciTePress
Publication year: 2019
Conference Proceedings Title: Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5: VISAPP
Pages range: 816-823
ISBN: 978-989-758-354-4
Language: English


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.


FAU Authors / FAU Editors

Hiller, Markus
Lehrstuhl für Informationstechnik mit dem Schwerpunkt Kommunikationselektronik (Stiftungslehrstuhl)
Kalisz, Adam
Lehrstuhl für Informationstechnik mit dem Schwerpunkt Kommunikationselektronik (Stiftungslehrstuhl)
Particke, Florian
Lehrstuhl für Informationstechnik mit dem Schwerpunkt Kommunikationselektronik (Stiftungslehrstuhl)
Penk, Dominik
Lehrstuhl für Informatik 9 (Graphische Datenverarbeitung)
Thielecke, Jörn Prof. Dr.
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.

BibTeX: 

Last updated on 2019-15-05 at 15:38