Paper Info
Title
Closed-Loop Benchmarking of Stereo Visual-Inertial SLAM Systems: Understanding the Impact of Drift and Latency on Tracking Accuracy
Abstract
Visual-inertial SLAM is essential for robot navigation in GPS-denied environments, e.g. indoor, underground. Conventionally, the performance of visual-inertial SLAM is evaluated with open-loop analysis, with a focus on the drift level of SLAM systems. In this paper, we raise the question on the importance of visual estimation latency in closed-loop navigation tasks, such as accurate trajectory tracking. To understand the impact of both drift and latency on visual-inertial SLAM systems, a closed-loop benchmarking simulation is conducted, where a robot is commanded to follow a desired trajectory using the feedback from visual-inertial estimation. By extensively evaluating the trajectory tracking performance of representative state-of-the-art visual-inertial SLAM systems, we reveal the importance of latency reduction in visual estimation module of these systems. The findings suggest directions of future improvements for visual-inertial SLAM.
Year
DOI
Venue
2020
10.1109/ICRA40945.2020.9197003
ICRA
DocType
Volume
Issue
Conference
2020
1
Citations 
PageRank 
References 
0
0.34
22
Authors
4
Name
Order
Citations
PageRank
Yipu Zhao1445.38
Justin Smith29711.74
Karumanchi Sambhu H.300.34
Patricio A Vela436939.12