Frames from sequences used for evaluating performance in fast motion scenarios from the EuRoC MAV dataset

Fast movement may lead to poor input data featuring disturbances such as motion blur, and encumbering feature detection and matching. We evaluate stereo and stereo-inertial algorithms (ORB-SLAM2, ORB-SLAM3, and OpenVINS) on the difficult sequences of the EuRoC MAV dataset. The data was acquired using a drone flying at high speeds in an industrial setting and in cluttered rooms.

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Machine Hall 04

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Machine Hall 05

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Vicon Room1 03

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Vicon Room2 03