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Authors: Adam Kalisz 1 ; Florian Particke 1 ; Dominik Penk 2 ; Markus Hiller 1 and Jörn Thielecke 1

Affiliations: 1 Department of Electrical, Electronic and Communication Engineering, Information Technology (LIKE), Friedrich-Alexander-Universität Erlangen-Nürnberg, Am Wolfsmantel 33, Erlangen, Germany ; 2 Department of Computer Science, Computer Graphics Lab (LGDV), Friedrich-Alexander-Universität Erlangen-Nürnberg, Cauerstraße 11, Erlangen, Germany

ISBN: 978-989-758-354-4

Keyword(s): Fusion, Global Positioning System, Visual Simultaneous Localization and Mapping, GPS, SLAM, Simulation, Blender.

Abstract: In order to account for sensor deficiancies, usually a multi-sensor approach is used where various sensors complement each other. However, synchronization of highly accurate Global Positioning System (GPS) and video measurements requires specialized hardware which is not straightforward to set up. This paper proposes a full simulation environment for data generation and evaluation of Visual Simultaneous Localization and Mapping (Visual SLAM) and GPS based on free and open software. Specifically, image data is created by rendering a virtual environment where camera effects such as Motion Blur and Rolling Shutter can be added. Consequently, a ground truth camera trajectory is available and can be distorted via additive Gaussian noise to understand all parameters involved in the use of fusion algorithms such as the Kalman Filter. The proposed evaluation framework will be published as open source online at https://master.kalisz.co for free use by the research community.

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Paper citation in several formats:
Kalisz, Adam; Particke, F.; Penk, D.; Hiller, M. and Thielecke, J. (2019). B-SLAM-SIM: A Novel Approach to Evaluate the Fusion of Visual SLAM and GPS by Example of Direct Sparse Odometry and Blender.In Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5: VISAPP, ISBN 978-989-758-354-4, pages 816-823. DOI: 10.5220/0007375308160823

@conference{visapp19,
author={Kalisz, Adam and Florian Particke. and Dominik Penk. and Markus Hiller. and Jörn Thielecke.},
title={B-SLAM-SIM: A Novel Approach to Evaluate the Fusion of Visual SLAM and GPS by Example of Direct Sparse Odometry and Blender},
booktitle={Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5: VISAPP,},
year={2019},
pages={816-823},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007375308160823},
isbn={978-989-758-354-4},
}

TY - CONF

JO - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5: VISAPP,
TI - B-SLAM-SIM: A Novel Approach to Evaluate the Fusion of Visual SLAM and GPS by Example of Direct Sparse Odometry and Blender
SN - 978-989-758-354-4
AU - Kalisz, Adam
AU - Particke, F.
AU - Penk, D.
AU - Hiller, M.
AU - Thielecke, J.
PY - 2019
SP - 816
EP - 823
DO - 10.5220/0007375308160823

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