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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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Q: measuring stability metrics jitter, drift, swim ? #423

Open brianm-sra opened 2 years ago

brianm-sra commented 2 years ago

Hello, is there a way to measure ORB-SLAM3's stability metrics such as

jitter drift swim

?

Anyone done this?

Looking for a way that can be used to compare ORB-SLAM3 to other SLAM solutions

mateosss commented 2 years ago

I've not found any significant mentions on analysis of these kind of properties that would be useful for XR in any SLAM/VIO for now and I'm very much interested in them.

I suspect that the usual metrics RMSE ATE and RMSE RTE could help a bit in knowing how bad these issues affect a system. In particular, lower ATE should imply lower drift, while reducing RTE could imply reduced jitter and swimminess in general.

The only place I've seen these issues talked about is, of course, on Meta's blogpost about their own SLAM solution, Insight, for the Quest.