Artificial Intelligence and Machine Vision

TUM RGB-D benchmark [38] - an excellent dataset to evaluate the accuracy of camera location - several sequences with accurate ground truth obtained with an external motion capture system KITTI - extracted 2000 corners - 512x384 - 752x480 - 1241x376 - 5 corners per cell Compute orientation & ORB descriptors  - novel, direct, semi-dense, LSD-SLAM [10]     - takes time to converge the depth values - PTAM benchmarks [4]   - manually selected two keyframes for initialization - align the keyframe trajectories using the similarity transformatione - scale is unknown - measure the absolute trajectory error (ATE) [38] - RGB-D SLAM [43]    - trajectories - use the similarity transform to check if the scale is well recovered. - align the trajectories with a rigid body transformation