Assignment 3

Vision based State Estimation

This assignment aims to familiarize you with open source s/w for vision based state estimation.

Group #	Theme	Team
1	g^2o	Coskun, Rahman
2	iSAM	Modasshir, Akanksha
3	ORB-SLAM	Doherty, Mukkala
4	Bundle Adjustment (Bundler?)	Xanthidis, Chatterjee
5	PTAM	Modasshir, Akanksha
6	RAT-SLAM	Ghasemloo, Behbooei
7	Open Seq	Ghasemloo, Behbooei
8	SVO	Behbooei, Ghasemloo
9	LSD-SLAM	Modasshir, Akanksha
10	MonoSLAM	Doherty, Mukkala
11	GTSAM	Coskun, Rahman
12	HOG-MAN	Rahman, Coskun
13	ParallaxBA	Xanthidis, Chatterjee
14	RobotVision	Doherty, Mukkala
15	SBA	Xanthidis, Chatterjee
16	FAB-MAP	Jagtap
17	openFABMAP	Jagtap
18	libVISO
19	NASA vision workbench

Steps:

1. Install the open-source package. Document any difficulties, dependencies, challenges

2. Run the examples provided.

3. Document the input format.

4. Develop, if necessary, “driver” nodes to interface between the provided data (bag file format) and the open-source package.

5. Test the open-source package using the data provided.

6. Output the data in the common interface (to be provided)

7. Write a report discussing the performance of the open-source package. Report:

a. Requirements (steps 1,3)

b. Success

c. Timing (per step and total)

d. Accuracy