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Evaluation of Visual Inertial Map Quality
The first goal of this project is to implement a GUI-based visualization of a visual-inertial sparse feature map using QT. In a second step, the map quality is to be evaluated and directly visualized in QT.
The goal of this project is to implement a GUI-based visualization of a visual-inertial sparse feature map using QT, where the result may look similar to COLMAP: https://www.youtube.com/watch?v=P-EC0DzeVEU
For example, after clicking on a landmark the user will see the following information:
- the images / frames from which the landmark has been observed
- the keypoints location and descriptor information in the image
- ...
The QT-based implementation will be used for faster debugging, improved and faster understanding of the visual-inertial map and will speed up and be more robust than the currently used RVIZ visualization - especially when the visual-inertial map consists of many landmarks and poses.
In a second step, a good metric for determining the quality of a map is to be found and directly visualized in QT.
The goal of this project is to implement a GUI-based visualization of a visual-inertial sparse feature map using QT, where the result may look similar to COLMAP: https://www.youtube.com/watch?v=P-EC0DzeVEU
For example, after clicking on a landmark the user will see the following information:
- the images / frames from which the landmark has been observed - the keypoints location and descriptor information in the image - ...
The QT-based implementation will be used for faster debugging, improved and faster understanding of the visual-inertial map and will speed up and be more robust than the currently used RVIZ visualization - especially when the visual-inertial map consists of many landmarks and poses.
In a second step, a good metric for determining the quality of a map is to be found and directly visualized in QT.
- Make yourself familiar with our existing visual-inertial mapping framework, in particular how the data is stored
- Make yourself familiar with QT/GUI-based visualization
- Implement a QT-based GUI for existing visual-inertial maps
- Literature review on good metrics for evaluating the quality of visual-inertial maps
- Implementation and visualization of the map quality metrics in QT.
- Make yourself familiar with our existing visual-inertial mapping framework, in particular how the data is stored - Make yourself familiar with QT/GUI-based visualization - Implement a QT-based GUI for existing visual-inertial maps - Literature review on good metrics for evaluating the quality of visual-inertial maps - Implementation and visualization of the map quality metrics in QT.
- Student enrolled at ETH Zurich
- Programming experience in C++ and QT beneficial
- Experience with Ubuntu beneficial. We are mainly using Ubuntu 14.04.
- Student enrolled at ETH Zurich - Programming experience in C++ and QT beneficial - Experience with Ubuntu beneficial. We are mainly using Ubuntu 14.04.