ORB SLAM 2
Visual Odometry
- Submitted by
- Stephan Richter
- Authors
- Raúl Mur-Artal, Juan D. Tardós
- Venue
- IEEE Transactions on Robotics 2017
- Abstract
- ORB SLAM 2 baseline. It was run with the following parameters: ORBextractor.nFeatures: 6000, ORBextractor.scaleFactor: 1.2, ORBextractor.nLevels: 12, ORBextractor.initThFAST: 20, ORBextractor.minThFAST: 7
- Runtime
- 67 ms
- External data used
- no
- Links
- Number of submissions
- 1
- Detailed results
-
Metric All day sunset snow rain night Translational Error (all frames) [%] 0.321 0.675 0.242 0.114 0.280 0.245 Rotational Error (all frames) [deg/m] 0.184 0.387 0.139 0.065 0.160 0.141 Translational Error (tracked frames) [%] 0.149 0.256 0.212 0.064 0.054 0.154 Rotational Error (tracked frames) [deg/m] 0.086 0.147 0.122 0.036 0.031 0.088 # Frames for initialization 33.3 13.9 19.3 26.2 122.1 17.4 Frames tracked [%] 85.9 84.0 89.6 91.0 78.7 86.3