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Pregled bibliografske jedinice broj: 1140458

Recalibrating the KITTI Dataset Camera Setup for Improved Odometry Accuracy


Cvišić, Igor; Marković, Ivan; Petrović, Ivan
Recalibrating the KITTI Dataset Camera Setup for Improved Odometry Accuracy // European Conference on Mobile Robots
Bonn, Germany, 2021. str. 1-6 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), ostalo)


CROSBI ID: 1140458 Za ispravke kontaktirajte CROSBI podršku putem web obrasca

Naslov
Recalibrating the KITTI Dataset Camera Setup for Improved Odometry Accuracy

Autori
Cvišić, Igor ; Marković, Ivan ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), ostalo

Izvornik
European Conference on Mobile Robots / - , 2021, 1-6

Skup
European Conference on Mobile Robots

Mjesto i datum
Bonn, Germany, 01.-03.09.2021

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
KITTI dataset ; camera calibration ; stereo camera ; visual odometry

Sažetak
Over the last decade, one of the most relevant public datasets for evaluating odometry accuracy is the KITTI dataset. Beside the quality and rich sensor setup, its success is also due to the online evaluation tool, which enables researchers to benchmark and compare algorithms. The results are evaluated on the test subset solely, without any knowledge about the ground truth, yielding unbiased, overfit free and therefore relevant validation for robot localization based on cameras, 3D laser or combination of both. However, as any sensor setup, it requires prior calibration and rectified stereo images are provided, introducing dependence on the default calibration parameters. Given that, a natural question arises if a better set of calibration parameters can be found that would yield higher odometry accuracy. In this paper, we propose a new approach for one shot calibration of the KITTI dataset multiple camera setup. The approach yields better calibration parameters, both in the sense of lower calibration reprojection errors and lower visual odometry error. We conducted experiments where we show for three different odometry algorithms, namely SOFT2, ORB-SLAM2 and VISO2, that odometry accuracy is significantly improved with the proposed calibration parameters. Moreover, our odometry, SOFT2, in conjunction with the proposed calibration method achieved the highest accuracy on the official KITTI scoreboard with 0.53% translational and 0.0009 deg/m rotational error, outperforming even 3D laser-based methods.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Ivan Petrović (autor)

Avatar Url Ivan Marković (autor)

Avatar Url Igor Cvišić (autor)


Citiraj ovu publikaciju:

Cvišić, Igor; Marković, Ivan; Petrović, Ivan
Recalibrating the KITTI Dataset Camera Setup for Improved Odometry Accuracy // European Conference on Mobile Robots
Bonn, Germany, 2021. str. 1-6 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), ostalo)
Cvišić, I., Marković, I. & Petrović, I. (2021) Recalibrating the KITTI Dataset Camera Setup for Improved Odometry Accuracy. U: European Conference on Mobile Robots.
@article{article, year = {2021}, pages = {1-6}, keywords = {KITTI dataset, camera calibration, stereo camera, visual odometry}, title = {Recalibrating the KITTI Dataset Camera Setup for Improved Odometry Accuracy}, keyword = {KITTI dataset, camera calibration, stereo camera, visual odometry}, publisherplace = {Bonn, Germany} }
@article{article, year = {2021}, pages = {1-6}, keywords = {KITTI dataset, camera calibration, stereo camera, visual odometry}, title = {Recalibrating the KITTI Dataset Camera Setup for Improved Odometry Accuracy}, keyword = {KITTI dataset, camera calibration, stereo camera, visual odometry}, publisherplace = {Bonn, Germany} }




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