Closed-Loop Benchmarking of Stereo Visual-Inertial SLAM Systems: Understanding the Impact of Drift and Latency on Tracking Accuracy
Yipu Zhao,Justin S. Smith,Sambhu H. Karumanchi,Patricio A. Vela,Yipu Zhao,Justin S. Smith,Sambhu H. Karumanchi,Patricio A. Vela
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 tra...
