A Photometrically Calibrated Benchmark For Monocular Visual Odometry

  title={A Photometrically Calibrated Benchmark For Monocular Visual Odometry},
  author={Jakob Engel and Vladyslav C. Usenko and Daniel Cremers},
We present a dataset for evaluating the tracking accuracy of monocular visual odometry and SLAM methods. It contains 50 real-world sequences comprising more than 100 minutes of video, recorded across dozens of different environments – ranging from narrow indoor corridors to wide outdoor scenes. All sequences contain mostly exploring camera motion, starting and ending at the same position. This allows to evaluate tracking accuracy via the accumulated drift from start to end, without requiring… CONTINUE READING
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