ON CONSTRUCTION OF A RELIABLE GROUND TRUTH FOR EVALUATION OF VISUAL SLAM ALGORITHMS

In this work we are concerning the problem of localization accuracy evaluation of visual-based Simultaneous Localization and Mapping (SLAM) techniques. Quantitative evaluation of the SLAM algorithm performance is usually done using the established metrics of Relative pose error and Absolute trajectory error which require a precise and reliable ground truth. Such a ground truth is usually hard to obtain, while it requires an expensive external localization system. In this work we are proposing to use the SLAM algorithm itself to construct a reliable ground-truth by offline frame-by-frame processing. The generated ground-truth is suitable for evaluation of different SLAM systems, as well as for tuning the parametrization of the on-line SLAM. The presented practical experimental results indicate the feasibility of the proposed approach