A Framework For Evaluating Visual SLAM
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چکیده
Figure 1: Framework overview. An image sequence is rendered and passed to the evaluated VSLAM system. A log of the systems operation is created and processed by the evaluation system. From the known scene structure and trajectory, the log is used to compute a sparse ground truth feature map, as well as ground truth (or rather “ideal”) measurements. Finally, plot data is generated comparing estimation results from the log against ground truth.
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تاریخ انتشار 2009