Direct Sparse Odometry
Visual Odometry

Submitted by
Stephan Richter
Authors
Jakob Engel, Vladlen Koltun, Daniel Cremers
Venue
PAMI
Abstract
DSO baseline as described in the Playing for Benchmarks paper. We ran DSO with preset=0, mode=2 and crop 896x512 to get a sufficiently large number of pyramid levels.
Runtime
3 ms
External data used
no
Links
Number of submissions
1

Detailed results
MetricAlldaysunsetsnowrainnight
Translational Error (all frames) [%] 0.379 0.406 0.358 0.367 0.319 0.421
Rotational Error (all frames) [deg/m] 0.217 0.233 0.205 0.210 0.183 0.241
Translational Error (tracked frames) [%] 0.246 0.282 0.215 0.297 0.178 0.230
Rotational Error (tracked frames) [deg/m] 0.141 0.161 0.123 0.170 0.102 0.132
# Frames for initialization 95.2 74.4 75.5 116.5 87.1 120.8
Frames tracked [%] 79.6 84.4 82.8 74.5 80.8 75.4