A Benchmark Comparison of Four Off-the-Shelf Proprietary Visual-Inertial Odometry Systems.

ABSTRACT: Commercial visual-inertial odometry (VIO) systems have been gaining attention as cost-effective, off-the-shelf, six-degree-of-freedom (6-DoF) ego-motion-tracking sensors for estimating accurate and consistent camera pose data, in addition to their ability to operate without external localization from motion capture or global positioning systems. It is unclear from existing results, however, which commercial VIO platforms are the most stable, consistent, and accurate in terms of state estimation for indoor and outdoor robotic applications. We assessed four popular proprietary VIO systems (Apple ARKit, Google ARCore, Intel RealSense T265, and Stereolabs ZED 2) through a series of both indoor and outdoor experiments in which we showed their positioning stability, consistency, and accuracy. Af

SUBMITTER: Kim P 

PROVIDER: S-EPMC9785098 | biostudies-literature | 2022 Dec

REPOSITORIES: biostudies-literature