B-SLAM-SIM: A Novel Approach to Evaluate the Fusion of Visual SLAM and GPS by Example of Direct Sparse Odometry and Blender

Adam Kalisz, Florian Particke, Dominik Penk, Markus Hiller, Jörn Thielecke

2019

Abstract

In order to account for sensor deficiancies, usually a multi-sensor approach is used where various sensors complement each other. However, synchronization of highly accurate Global Positioning System (GPS) and video measurements requires specialized hardware which is not straightforward to set up. This paper proposes a full simulation environment for data generation and evaluation of Visual Simultaneous Localization and Mapping (Visual SLAM) and GPS based on free and open software. Specifically, image data is created by rendering a virtual environment where camera effects such as Motion Blur and Rolling Shutter can be added. Consequently, a ground truth camera trajectory is available and can be distorted via additive Gaussian noise to understand all parameters involved in the use of fusion algorithms such as the Kalman Filter. The proposed evaluation framework will be published as open source online at https://master.kalisz.co for free use by the research community.

Paper Citation

in Harvard Style

Kalisz A., Particke F., Penk D., Hiller M. and Thielecke J. (2019). B-SLAM-SIM: A Novel Approach to Evaluate the Fusion of Visual SLAM and GPS by Example of Direct Sparse Odometry and Blender. In Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 5: VISAPP; ISBN 978-989-758-354-4, SciTePress, pages 816-823. DOI: 10.5220/0007375308160823

in Bibtex Style

@conference{visapp19,
author={Adam Kalisz and Florian Particke and Dominik Penk and Markus Hiller and Jörn Thielecke},
title={B-SLAM-SIM: A Novel Approach to Evaluate the Fusion of Visual SLAM and GPS by Example of Direct Sparse Odometry and Blender},
booktitle={Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 5: VISAPP},
year={2019},
pages={816-823},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007375308160823},
isbn={978-989-758-354-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 5: VISAPP
TI - B-SLAM-SIM: A Novel Approach to Evaluate the Fusion of Visual SLAM and GPS by Example of Direct Sparse Odometry and Blender
SN - 978-989-758-354-4
AU - Kalisz A.
AU - Particke F.
AU - Penk D.
AU - Hiller M.
AU - Thielecke J.
PY - 2019
SP - 816
EP - 823
DO - 10.5220/0007375308160823
PB - SciTePress