Introduction
The related works
The feature point-based method
The direct method
The hybrid method
The proposed fast semi-direct SLAM
Initialization and feature enhancement
Camera pose estimation based on weighted fusion
Global optimization of incremental dynamic covariance scaling algorithm
3D mapping
ATE/m v.s. h/ms | FOVIS | DVO | FSD-SLAM |
---|---|---|---|
fr1/xyz | 0.043/142 | 0.036/186 | 0.029/86 |
fr1/rpy | 0.063/153 | 0.042/196 | 0.038/95 |
fr1/desk | 0.073/187 | 0.064/175 | 0.056/99 |
fr3/struct_text_far | 0.025/137 | 0.018/183 | 0.014/82 |
fr3/struct_notext_far | 0.127/185 | 0.130/197 | 0.086/81 |
Experiments
Evaluation standard
Algorithm | RMSE | Mean | Median | Min | Max |
---|---|---|---|---|---|
RGB-D SLAM | 0.063425 m | 0.053672 m | 0.046759 m | 0.009736 m | 0.182376 m |
FSD-SLAM | 0.045632 m | 0.0426578 m | 0.034562 m | 0.006743 m | 0.154378m |
Algorithm | RMSE | Mean | Median | Min | Max |
---|---|---|---|---|---|
RGB-D SLAM | 0.042637 m | 0.043789 m | 0.051879 m | 0.012576 m | 0.195483 m |
FSD-SLAM | 0.035627 m | 0.025674 m | 0.025364 m | 0.002364 m | 0.178543 m |
Algorithm | RMSE | Mean | Median | Min | Max |
---|---|---|---|---|---|
RGB-D SLAM | 1.825637\(^{\circ }\) | 1.764839\(^{\circ }\) | 1.648932\(^{\circ }\) | 0.356278\(^{\circ }\) | 5.835269\(^{\circ }\) |
FSD-SLAM | 1.724893\(^{\circ }\) | 1.634672\(^{\circ }\) | 1.568742\(^{\circ }\) | 0.157234\(^{\circ }\) | 3.673892\(^{\circ }\) |
TUM sequence | ORB-SLAM2 | FSD-SLAM |
---|---|---|
fr3_nostructure_far | 20 |
0
|
fr3_nostructure_notexture_near | 20 |
3
|
fr3_structure_notexture_far | 12 |
0
|
fr3_nostructure_texture_withloop |
0
|
0
|
fr3_nostructure_texture_far | 20 |
0
|
fr3_nostructure_texture_near | 20 |
0
|
fr3_structure_texture_near |
0
|
0
|
fr3_structure_texture_far |
0
|
0
|
Evaluation on TUM RGB-D dataset
TUM sequence | ORB-MONO | FSD-MONO | ORB-STEREO | FSD-STEREO | ORB-RGB-D | FSD-RGB-D |
---|---|---|---|---|---|---|
R1_360 | 0.018 | 0.017 | X | X | 0.026 | 0.024 |
fr1_desk | 0.021 | 0.016 | X | X | 0.032 | 0.027 |
fr1_desk2 | 0.028 | 0.027 | X | X | 0.037 | 0.028 |
fr1_floor | 0.017 | 0.014 | X | X | 0.023 | 0.022 |
fr1_room | 0.024 | 0.024 | X | X | 0.031 | 0.024 |
fr1_xyz | 0.031 | 0.012 | X | X | 0.030 | 0.020 |
fr2_360_hemi | 0.014 | 0.011 | X | X | 0.026 | 0.018 |
fr2_360_kidnap | 0.016 | 0.010 | X | X | 0.020 | 0.019 |
fr2_desk | 0.022 | 0.013 | X | X | 0.034 | 0.016 |
fr2_large_withloop | 0.017 | 0.018 | X | X | 0.018 | 0.021 |
fr2_large_no_loop | 0.018 | 0.018 | X | X | 0.028 | 0.017 |
fr2_pioneer_360 | 0.027 | 0.029 | X | X | 0.023 | 0.022 |
fr2_pioneer_slam | 0.021 | 0.018 | X | X | 0.025 | 0.026 |
fr2_pioneer_slam2 | 0.022 | 0.025 | X | X | 0.024 | 0.023 |
fr2_pionner_slam3 | 0.019 | 0.027 | X | X | 0.024 | 0.024 |
fr2_rpy | 0.023 | 0.015 | X | X | 0.025 | 0.017 |
fr2_xyz | 0.027 | 0.017 | X | X | 0.027 | 0.017 |
Evaluation in real environment
Method | ATE (m) | RPE (m) |
---|---|---|
FSD-SLAM | 0.018793 | 0.028753 |
RGBD-SLAM | 0.025415 | 0.038691 |
HOOFR SLAM | 0.029326 | 0.048293 |
ORB-SALM | 0.035612 | 0.031973 |
BAD SLAM | 0.029569 | 0.029427 |
DOOR-SLAM | 0.022371 | 0.047628 |