Real-world tests of Visual SLAM (DSO) to prepare fusion with GPS
Channel: LangwasserTV
Date: 2019-02-23

This video shows how the Direct Sparse Odometry (DSO) algorithm performs on streets while the camera is located behind the windshield. It can be shown that reflections on the windshield and on the car hood cause problems for the bundle adjustment  algorithm. Therefore, it helps to place the camera somewhere outside the car, but still photoconsistency is an issue when brightness changes to quickly as in contre-jour scenarios (i.e. in tunnels) for example.

You can read more about our research on:
https://master.kalisz.co

Related conference papers are:

1.) VISAPP 2019: "B-SLAM-SIM: A novel approach to evaluate the fusion of Visual SLAM and GPS by example of Direct Sparse Odometry and Blender" by Adam Kalisz, Florian Particke, Dominik Penk, Markus Hiller and Jörn Thielecke.
2.) DICTA 2018: "Systematic Analysis of Direct Sparse Odometry" by Florian Particke, Adam Kalisz, Christian Hofmann, Markus Hiller, Henrik Bey and Jörn Thielecke.

The purpose of this video is to demonstrate how Direct Sparse Odometry behaves in a real-world setting where a rolling shutter camera (Stereolabs ZED) is used in two locations on a moving plattform (namely from inside and outside the car). The tests were performed while the drivers attention was fully on a safe steering of the vehicle on the street. Mostly traffic-free areas like parking lots have been used to perform the tests.

Music used (Thank you @STEEP):
STEEP - It Could Be You
License: Creative Commons BY NC SA