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Published at December 5

Multi-cam Multi-map Visual Inertial Localization: System, Validation and Dataset

cs.RO

Released Date: December 5, 2024

Authors: Fuzhang Han¹, Yufei Wei, Yanmei Jiao, Zhuqing Zhang, Yiyuan Pan, Wenjun Huang, Li Tang, Huan Yin, Xiaqing Ding, Rong Xiong, Yue Wang

Aff.: ¹Zhejiang University

Arxiv: http://arxiv.org/pdf/2412.04287v1

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Task	session	YQ-2017-0827	YQ-2017-0828	YQ-2018-0129	NC-quad-hard	NC-math-hard
Task	m deg	0.25 / 0.5 / 1.0 / 5.0 2.0 / 5.0 / 8.0 / 10.0	0.25 / 0.5 / 1.0 / 5.0 2.0 / 5.0 / 8.0 / 10.0	0.25 / 0.5 / 1.0 / 5.0 2.0 / 5.0 / 8.0 / 10.0	0.25 / 0.5 / 1.0 / 5.0 2.0 / 5.0 / 8.0 / 10.0	0.25 / 0.5 / 1.0 / 5.0 2.0 / 5.0 / 8.0 / 10.0
Mono	P3P	15.6 / 28.6 / 38.2 / 49.4	16.2 / 32.1 / 39.1 / 47.1	09.2 / 18.3 / 27.8 / 45.2	2.75 / 10.56 / 26.68 / 55.13	2.05 / 10.36 / 30.64 / 74.83
	EPnP	15.9 / 29.2 / 38.6 / 50.7	17.8 / 33.0 / 39.6 / 47.6	09.8 / 20.7 / 28.8 / 45.6	2.66 / 10.96 / 28.50 / 54.86	2.43 / 10.74 / 32.35 / 74.21
	UPnP	19.2 / 33.1 / 39.2 / 51.8	19.6 / 34.3 / 38.2 / 47.4	10.4 / 21.3 / 28.2 / 46.8	2.62 / 10.52 / 27.08 / 54.86	1.95 / 10.50 / 30.71 / 74.66
	2P	21.9 / 33.8 / 41.0 / 54.6	20.9 / 31.9 / 37.1 / 44.3	13.9 / 24.4 / 33.5 / 53.5	8.17 / 21.66 / 39.37 / 57.08	5.51 / 19.66 / 44.63 / 80.03
Multi	GP3P	22.9 / 36.5 / 42.8 / 54.3	22.6 / 36.8 / 42.7 / 52.2	15.2 / 22.1 / 31.0 / 53.5	10.46 / 26.95 / 45.74 / 60.46	7.66 / 24.08 / 52.80 / 88.78
	GPnP	21.1 / 35.5 / 41.4 / 52.4	22.9 / 34.8 / 41.3 / 50.2	14.3 / 21.8 / 30.2 / 52.0	10.11 / 23.40 / 41.13 / 61.17	6.97 / 25.99 / 54.45 / 89.33
	MC2P	23.0 / 37.1 / 45.6 / 55.8	23.9 / 36.6 / 43.2 / 51.7	15.3 / 26.4 / 37.2 / 57.6	12.41 / 27.48 / 46.81 / 61.17	9.71 / 26.27 / 55.13 / 90.42