Systematic Analysis of Direct Sparse Odometry

Particke F, Kalisz A, Hofmann C, Hiller M, Bey H, Thielecke J (2018)

Publication Language: English

Publication Type: Conference contribution, Conference Contribution

Publication year: 2018

Pages Range: 1-6

Conference Proceedings Title: 2018 Digital Image Computing: Techniques and Applications (DICTA)

Event location: Canberra, Australia AU

ISBN: 978-1-5386-6602-9

DOI: 10.1109/DICTA.2018.8615807

Abstract

In the field of robotics and autonomous driving, the camera as a sensor gets more and more important, as the camera is cheap and robust against environmental influences. One challenging task is the localization of the robot on an unknown map. This leads to the so-called Simultaneous Localization and Mapping (SLAM) problem. For the Visual SLAM problem, a plethora of algorithms was proposed in the last years, but the algorithms were rarely evaluated regarding the robustness of the approaches. This contribution motivates the systematic analysis of Visual SLAMs in simulation by using heterogeneous environments in Blender. For this purpose, three different environments are used for evaluation ranging from very low detailed to high detailed worlds. In this contribution, the Direct Sparse Odometry (DSO) is evaluated as an exemplary Visual SLAM. It is shown that the DSO is very sensitive to rotations of the camera. In addition, it is presented that if the scene does not provide sufficient clues about the depth, an estimation of the trajectory is not possible. The results are complemented by real-world experiments.

Authors with CRIS profile

Florian Particke Lehrstuhl für Informationstechnik mit dem Schwerpunkt Kommunikationselektronik (Stiftungslehrstuhl) (LIKE) Adam Kalisz Lehrstuhl für Informationstechnik mit dem Schwerpunkt Kommunikationselektronik (Stiftungslehrstuhl) (LIKE) Christian Hofmann Lehrstuhl für Informationstechnik mit dem Schwerpunkt Kommunikationselektronik (Stiftungslehrstuhl) (LIKE) Markus Hiller Lehrstuhl für Informationstechnik mit dem Schwerpunkt Kommunikationselektronik (Stiftungslehrstuhl) (LIKE) Henrik Bey Professur für Informationstechnik (Schwerpunkt Ortsbestimmung und Navigation) Jörn Thielecke Professur für Informationstechnik (Schwerpunkt Ortsbestimmung und Navigation)

How to cite

APA:

Particke, F., Kalisz, A., Hofmann, C., Hiller, M., Bey, H., & Thielecke, J. (2018). Systematic Analysis of Direct Sparse Odometry. In IEEE (Eds.), 2018 Digital Image Computing: Techniques and Applications (DICTA) (pp. 1-6). Canberra, Australia, AU.

MLA:

Particke, Florian, et al. "Systematic Analysis of Direct Sparse Odometry." Proceedings of the 2018 Digital Image Computing: Techniques and Applications (DICTA), Canberra, Australia Ed. IEEE, 2018. 1-6.

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