Systematic comparison of ORB-SLAM2 and LDSO based on varying simulated environmental factors

Kalisz A, Ling T, Particke F, Hofmann C, Thielecke J (2020)

Publication Type: Conference contribution

Publication year: 2020

Publisher: SciTePress

Book Volume: 4

Pages Range: 173-180

Conference Proceedings Title: VISIGRAPP 2020 - Proceedings of the 15th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications

Event location: Valletta MT

ISBN: 9789897584022

Abstract

Although the number of outstanding but highly complex Visual SLAM systems which are published as open source has increased in recent years, they often lack a systematic evaluation of their weaknesses and failure cases. This work systematically discusses the key differences of two state-of-the-art Visual SLAM algorithms, the indirect ORB-SLAM2 and the direct LDSO, by extensive experiments in varying environments. The evaluation is principally focused to the trajectory accuracy and robustness of the algorithms in specific situations. However, details about individual components used for the estimation of trajectories in both systems are presented. In order to investigate crucial aspects, a custom dataset was created in a 3D modeling software, Blender, to acquire the data for all experiments. The experimental results demonstrate the strengths and weaknesses of the systems. In particular, this research contributes insight into: 1. The influence of moving objects in a usually static scene. 2. How both systems react on periodicly changing scene lighting, both local and global. 3. The role of initialization on the resistance to dynamic changes in the scene.

Authors with CRIS profile

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

How to cite

APA:

Kalisz, A., Ling, T., Particke, F., Hofmann, C., & Thielecke, J. (2020). Systematic comparison of ORB-SLAM2 and LDSO based on varying simulated environmental factors. In Giovanni Maria Farinella, Petia Radeva, Jose Braz (Eds.), VISIGRAPP 2020 - Proceedings of the 15th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (pp. 173-180). Valletta, MT: SciTePress.

MLA:

Kalisz, Adam, et al. "Systematic comparison of ORB-SLAM2 and LDSO based on varying simulated environmental factors." Proceedings of the 15th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, VISIGRAPP 2020, Valletta Ed. Giovanni Maria Farinella, Petia Radeva, Jose Braz, SciTePress, 2020. 173-180.

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