OpenVSLAM: A Versatile Visual SLAM Framework
About
In this paper, we introduce OpenVSLAM, a visual SLAM framework with high usability and extensibility. Visual SLAM systems are essential for AR devices, autonomous control of robots and drones, etc. However, conventional open-source visual SLAM frameworks are not appropriately designed as libraries called from third-party programs. To overcome this situation, we have developed a novel visual SLAM framework. This software is designed to be easily used and extended. It incorporates several useful features and functions for research and development.
Shinya Sumikura, Mikiya Shibuya, Ken Sakurada• 2019
Related benchmarks
| Task | Dataset | Result | Rank | |
|---|---|---|---|---|
| Visual Odometry | TartanAirV2 CountryHouse Easy | ATE (m)0.02 | 13 | |
| Visual Odometry | TartanAir Average V2 (Evaluation Set) | Success Rate0.53 | 7 | |
| Visual Odometry | TartanAir OldTownNight Easy V2 | ATE (m)0.033 | 6 | |
| Visual Odometry | TartanAir VictorianStreet Easy V2 | ATE (m)0.016 | 6 | |
| Visual Odometry | 360VO synthetic dataset (test) | ATE2.25 | 3 |
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