26 June 2017 Localisation accuracy of semi-dense monocular SLAM
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Understanding the factors that influence the accuracy of visual SLAM algorithms is very important for the future development of these algorithms. So far very few studies have done this. In this paper, a simulation model is presented and used to investigate the effect of the number of scene points tracked, the effect of the baseline length in triangulation and the influence of image point location uncertainty. It is shown that the latter is very critical, while the other all play important roles. Experiments with a well known semi-dense visual SLAM approach are also presented, when used in a monocular visual odometry mode. The experiments shows that not including sensor bias and scale factor uncertainty is very detrimental to the accuracy of the simulation results.
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Kristiaan Schreve, Kristiaan Schreve, Pieter G. du Plessies, Pieter G. du Plessies, Matthias Rätsch, Matthias Rätsch, } "Localisation accuracy of semi-dense monocular SLAM", Proc. SPIE 10332, Videometrics, Range Imaging, and Applications XIV, 103320H (26 June 2017); doi: 10.1117/12.2270163; https://doi.org/10.1117/12.2270163

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