Herrera-Granda, E.P.; Torres-Cantero, J.C.; Rosales, A.; Peluffo-Ordóñez, D.H. A Comparison of Monocular Visual SLAM and Visual Odometry Methods Applied to 3D Reconstruction. Appl. Sci.2023, 13, 8837.
Herrera-Granda, E.P.; Torres-Cantero, J.C.; Rosales, A.; Peluffo-Ordóñez, D.H. A Comparison of Monocular Visual SLAM and Visual Odometry Methods Applied to 3D Reconstruction. Appl. Sci. 2023, 13, 8837.
Herrera-Granda, E.P.; Torres-Cantero, J.C.; Rosales, A.; Peluffo-Ordóñez, D.H. A Comparison of Monocular Visual SLAM and Visual Odometry Methods Applied to 3D Reconstruction. Appl. Sci.2023, 13, 8837.
Herrera-Granda, E.P.; Torres-Cantero, J.C.; Rosales, A.; Peluffo-Ordóñez, D.H. A Comparison of Monocular Visual SLAM and Visual Odometry Methods Applied to 3D Reconstruction. Appl. Sci. 2023, 13, 8837.
Abstract
Pure monocular 3D reconstruction is an ill-posed problem that has attracted the research community's interest due to the affordability and availability of RGB sensors. SLAM, VO, and SFM are disciplines formulated to solve the 3D reconstruction problem and estimate the camera’s ego-motion, so many methods have been proposed. However, most of these methods were not evaluated in large datasets, under various motion patterns, had not been tested under the same metrics, and most of them had not been evaluated following a taxonomy, making their comparison and selection difficult. In this research, we performed a comparison of ten publicly available SLAM and VO methods following a taxonomy, including one method for each category of the primary taxonomy, three machine learning-based methods, and two updates of the best methods, to identify the advantages and limitations of each category of the taxonomy and test if the addition of machine learning or the updates made on those methods improved them significantly. Thus, we evaluated each algorithm under the TUM-Mono benchmark and performed an inferential statistical analysis to identify significative differences through its metrics. Results determined that sparse-direct methods significantly outperformed the rest of the taxonomy, and fusing them with machine learning techniques significantly improves the performance of geometric-based methods from different perspectives.
Keywords
monocular 3D reconstruction; monocular SLAM comparison; monocular VO comparison; monocular benchmark; 3D reconstruction classification; pure visual 3D reconstruction
Subject
Computer Science and Mathematics, Computer Vision and Graphics
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
