VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms
Alessandro Fornasier Martin Scheiber Alexander Hardt-Stremayr Roland Jung Stephan Weiss Alessandro Fornasier Martin Scheiber Alexander Hardt-Stremayr Roland Jung Stephan Weiss
The research community presented significant advances in many different Visual-Inertial Navigation System (VINS) algorithms to localize mobile robots or hand-held devices in a 3D environment. While authors of the algorithms of-ten do compare to, at that time, existing competing approaches, their comparison methods, rigor, depth, and repeatability at later points in time have a large spread. Furthe...