Publication: A Tutorial on Quantitative Trajectory Evaluation for Visual(-Inertial) Odometry
A Tutorial on Quantitative Trajectory Evaluation for Visual(-Inertial) Odometry
Date
Date
Date
Citations
Zhang, Z., & Scaramuzza, D. (2018). A Tutorial on Quantitative Trajectory Evaluation for Visual(-Inertial) Odometry. 7244–7251. https://doi.org/10.1109/iros.2018.8593941
Abstract
Abstract
Abstract
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
Additional indexing
Creators (Authors)
- Zhang, Zichao
- Scaramuzza, Davide
Event Title
Event Title
Event Title
Event Location
Event Location
Event Location
Event Start Date
Event Start Date
Event Start Date
Event End Date
Event End Date
Event End Date
Publisher
Publisher
Publisher
Page range/Item number
Page range/Item number
Page range/Item number
Page end
Page end
Page end
Item Type
Item Type
Item Type
In collections
Dewey Decimal Classifikation
Dewey Decimal Classifikation
Dewey Decimal Classifikation
Scope
Scope
Scope
Language
Language
Language
Date available
Date available
Date available
ISBN or e-ISBN
ISBN or e-ISBN
ISBN or e-ISBN
OA Status
OA Status
OA Status
Publisher DOI
Other Identification Number
Other Identification Number
Other Identification Number
Citations
Zhang, Z., & Scaramuzza, D. (2018). A Tutorial on Quantitative Trajectory Evaluation for Visual(-Inertial) Odometry. 7244–7251. https://doi.org/10.1109/iros.2018.8593941
