A Tutorial on Quantitative Trajectory Evaluation for Visual(-Inertial) Odometry

In this tutorial, we provide principled methods to quantitatively evaluate the quality of an estimated trajectory from visual(-inertial) odometry (VO/VIO), which is the foundation of benchmarking the accuracy of different algorithms. First, we show how to determine the transformation type to use in...

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Bibliographic Details
Published in2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 7244 - 7251
Main Authors Zhang, Zichao, Scaramuzza, Davide
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2018
Subjects
Cameras
Noise measurement
Sensors
Trajectory
Tutorials
Visualization
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Summary:In this tutorial, we provide principled methods to quantitatively evaluate the quality of an estimated trajectory from visual(-inertial) odometry (VO/VIO), which is the foundation of benchmarking the accuracy of different algorithms. First, we show how to determine the transformation type to use in trajectory alignment based on the specific sensing modality (i.e., monocular, stereo and visual-inertial). Second, we describe commonly used error metrics (i.e., the absolute trajectory error and the relative error) and their strengths and weaknesses. To make the methodology presented for VO/VIO applicable to other setups, we also generalize our formulation to any given sensing modality. To facilitate the reproducibility of related research, we publicly release our implementation of the methods described in this tutorial.
ISSN:2153-0866
DOI:10.1109/IROS.2018.8593941