Look Ma, No Ground Truth! Ground-Truth-Free Tuning of Structure from Motion and Visual SLAM

• URL: http://arxiv.org/abs/2412.01116v1
• Date: Mon, 02 Dec 2024 04:40:03 GMT
• Title: Look Ma, No Ground Truth! Ground-Truth-Free Tuning of Structure from Motion and Visual SLAM
• Authors: Alejandro Fontan, Javier Civera, Tobias Fischer, Michael Milford,
• Abstract summary: Evaluation is critical to both developing and tuning Structure from Motion (SfM) and Visual SLAM (VSLAM) systems.<n>This dependency on ground truth restricts SfM and SLAM applications across diverse environments.<n>We propose a novel ground-truth-free (GTF) evaluation methodology that eliminates the need for geometric ground truth.
• Score: 64.57742015099531
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Evaluation is critical to both developing and tuning Structure from Motion (SfM) and Visual SLAM (VSLAM) systems, but is universally reliant on high-quality geometric ground truth -- a resource that is not only costly and time-intensive but, in many cases, entirely unobtainable. This dependency on ground truth restricts SfM and SLAM applications across diverse environments and limits scalability to real-world scenarios. In this work, we propose a novel ground-truth-free (GTF) evaluation methodology that eliminates the need for geometric ground truth, instead using sensitivity estimation via sampling from both original and noisy versions of input images. Our approach shows strong correlation with traditional ground-truth-based benchmarks and supports GTF hyperparameter tuning. Removing the need for ground truth opens up new opportunities to leverage a much larger number of dataset sources, and for self-supervised and online tuning, with the potential for a data-driven breakthrough analogous to what has occurred in generative AI.

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