Stability assessment and performance comparison of VSLAM frameworks on open indoor datasets
This article examines the main directions of development of modern visual navigation technologies and highlights achievements and problems in this area. The article also considers popular VSLAM (Visual Simultaneous Localization and Mapping) frameworks and their main characteristics. Additionally, se...
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2024-12-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://isprs-archives.copernicus.org/articles/XLVIII-2-W5-2024/101/2024/isprs-archives-XLVIII-2-W5-2024-101-2024.pdf |
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| _version_ | 1850114872745918464 |
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| author | E. Lebedev D. Uchaev D. Uchaev |
| author_facet | E. Lebedev D. Uchaev D. Uchaev |
| author_sort | E. Lebedev |
| collection | DOAJ |
| description | This article examines the main directions of development of modern visual navigation technologies and highlights achievements and problems in this area. The article also considers popular VSLAM (Visual Simultaneous Localization and Mapping) frameworks and their main characteristics. Additionally, several indoor datasets are reviewed to highlight the importance of different testing environments when evaluating VSLAM frameworks. In the experimental part of the work, we compared three prominent VSLAM frameworks: ORB-SLAM 3, Basalt, and OpenVSLAM. For experimental study, 20 image sequences from the EuRoC and TUM-VI dataset were used. The study pays special attention to complex cases in indoor navigation, particularly those involving insufficient scene illumination, which poses significant challenges to the accuracy of VSLAM frameworks. The last part of this work provides a comparison of error estimates, including the absolute trajectory error and its variation throughout the entire estimated trajectory. |
| format | Article |
| id | doaj-art-830d832513ba408fa78dec54f38e6ca8 |
| institution | OA Journals |
| issn | 1682-1750 2194-9034 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj-art-830d832513ba408fa78dec54f38e6ca82025-08-20T02:36:44ZengCopernicus PublicationsThe International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences1682-17502194-90342024-12-01XLVIII-2-W5-202410110710.5194/isprs-archives-XLVIII-2-W5-2024-101-2024Stability assessment and performance comparison of VSLAM frameworks on open indoor datasetsE. Lebedev0D. Uchaev1D. Uchaev2Laboratory of Intelligent Systems for Processing Spatial Data, Moscow State University of Geodesy and Cartography (MIIGAiK), Moscow 105064, RussiaLaboratory of Intelligent Systems for Processing Spatial Data, Moscow State University of Geodesy and Cartography (MIIGAiK), Moscow 105064, RussiaDepartment of Space Monitoring and Ecology, Moscow State University of Geodesy and Cartography (MIIGAiK), Moscow 105064, RussiaThis article examines the main directions of development of modern visual navigation technologies and highlights achievements and problems in this area. The article also considers popular VSLAM (Visual Simultaneous Localization and Mapping) frameworks and their main characteristics. Additionally, several indoor datasets are reviewed to highlight the importance of different testing environments when evaluating VSLAM frameworks. In the experimental part of the work, we compared three prominent VSLAM frameworks: ORB-SLAM 3, Basalt, and OpenVSLAM. For experimental study, 20 image sequences from the EuRoC and TUM-VI dataset were used. The study pays special attention to complex cases in indoor navigation, particularly those involving insufficient scene illumination, which poses significant challenges to the accuracy of VSLAM frameworks. The last part of this work provides a comparison of error estimates, including the absolute trajectory error and its variation throughout the entire estimated trajectory.https://isprs-archives.copernicus.org/articles/XLVIII-2-W5-2024/101/2024/isprs-archives-XLVIII-2-W5-2024-101-2024.pdf |
| spellingShingle | E. Lebedev D. Uchaev D. Uchaev Stability assessment and performance comparison of VSLAM frameworks on open indoor datasets The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | Stability assessment and performance comparison of VSLAM frameworks on open indoor datasets |
| title_full | Stability assessment and performance comparison of VSLAM frameworks on open indoor datasets |
| title_fullStr | Stability assessment and performance comparison of VSLAM frameworks on open indoor datasets |
| title_full_unstemmed | Stability assessment and performance comparison of VSLAM frameworks on open indoor datasets |
| title_short | Stability assessment and performance comparison of VSLAM frameworks on open indoor datasets |
| title_sort | stability assessment and performance comparison of vslam frameworks on open indoor datasets |
| url | https://isprs-archives.copernicus.org/articles/XLVIII-2-W5-2024/101/2024/isprs-archives-XLVIII-2-W5-2024-101-2024.pdf |
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