Benchmark Solution "Inverse Depth EKF based Visual Odometry using 1Point RANSAC"

Approved by GF
Uploaded by jcivera on 2009-11-04 13:50:12 (last modified: 2009-11-04 14:28:58)

The sequence was processed using EKF, inverse depth parametrization for point features and 1Point RANSAC as outlier rejection algorithm. The algorithm only carries a local map of the current camera pose, deleting from the filter the rest of the map.

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This solution solves the following problem

  • Perform a map building activity with SLAM (online), using the sensor data files provided below. Such files come from the Bovisa_2008-10-04 data-collection session; they include output and calibration information associated to front color camera, IMU, odometry, and the ground truth for the specified session. Please note that the Bovisa_2008-10-04 session also includes other data files, not used for this Benchmark Problem. This BP belongs to the very first batch of problems published by Rawseeds; other BPs will follow. - Monocular SLAM - Bovisa_2008-10-04

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