Motion-Bias-Free Feature-Based SLAM

by   Alejandro Fontan, et al.

For SLAM to be safely deployed in unstructured real world environments, it must possess several key properties that are not encompassed by conventional benchmarks. In this paper we show that SLAM commutativity, that is, consistency in trajectory estimates on forward and reverse traverses of the same route, is a significant issue for the state of the art. Current pipelines show a significant bias between forward and reverse directions of travel, that is in addition inconsistent regarding which direction of travel exhibits better performance. In this paper we propose several contributions to feature-based SLAM pipelines that remedies the motion bias problem. In a comprehensive evaluation across four datasets, we show that our contributions implemented in ORB-SLAM2 substantially reduce the bias between forward and backward motion and additionally improve the aggregated trajectory error. Removing the SLAM motion bias has significant relevance for the wide range of robotics and computer vision applications where performance consistency is important.


page 1

page 2

page 3

page 4


Understanding why SLAM algorithms fail in modern indoor environments

Simultaneous localization and mapping (SLAM) algorithms are essential fo...

Twilight SLAM: A Comparative Study of Low-Light Visual SLAM Pipelines

This paper presents a comparative study of low-light visual SLAM pipelin...

GMC: Grid Based Motion Clustering in Dynamic Environment

Conventional SLAM algorithms takes a strong assumption of scene motionle...

High-resolution Ecosystem Mapping in Repetitive Environments Using Dual Camera SLAM

Structure from Motion (SfM) techniques are being increasingly used to cr...

HE-SLAM: a Stereo SLAM System Based on Histogram Equalization and ORB Features

In the real-life environments, due to the sudden appearance of windows, ...

Bidirectional Trajectory Computation for Odometer-Aided Visual-Inertial SLAM

Odometer-aided visual-inertial SLAM systems typically have a good perfor...

Comparative Design Space Exploration of Dense and Semi-Dense SLAM

SLAM has matured significantly over the past few years, and is beginning...

Please sign up or login with your details

Forgot password? Click here to reset