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A Benchmark Comparison of Four Off-the-Shelf Proprietary Visual-Inertial Odometry Systems.

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Summary

Commercial visual-inertial odometry (VIO) systems offer cost-effective 6-DoF ego-motion tracking. Apple ARKit demonstrated superior stability and accuracy in real-world tests, making it ideal for robotic applications.

Keywords:
Apple ARKitGoogle ARCoreVIOvisual navigationvisual–inertial odometry

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Area of Science:

  • Robotics
  • Computer Vision
  • Sensor Fusion

Background:

  • Commercial visual-inertial odometry (VIO) systems are increasingly used for six-degree-of-freedom (6-DoF) ego-motion tracking.
  • These systems offer cost-effective alternatives to traditional localization methods like motion capture or GPS.
  • A clear benchmark for the performance of popular VIO platforms in diverse environments is lacking.

Purpose of the Study:

  • To assess and compare the stability, consistency, and accuracy of leading commercial VIO systems.
  • To provide a benchmark for researchers and developers selecting VIO platforms for indoor and outdoor robotic applications.
  • To identify the most reliable VIO system for state estimation in challenging real-world scenarios.

Main Methods:

  • Evaluated four proprietary VIO systems: Apple ARKit, Google ARCore, Intel RealSense T265, and Stereolabs ZED 2.
  • Conducted a series of indoor and outdoor experiments to test positioning performance.
  • Measured state estimation accuracy, stability, and consistency under real-world conditions.

Main Results:

  • Apple ARKit exhibited the highest stability and accuracy among the tested VIO systems.
  • Apple ARKit achieved a relative pose error with a drift of approximately 0.02 m per second.
  • The study provides a comprehensive benchmark comparison of the evaluated VIO platforms.

Conclusions:

  • Apple ARKit stands out as the most stable and accurate commercial VIO system for robotic applications.
  • The findings offer valuable insights for selecting appropriate VIO hardware for precise ego-motion tracking.
  • This benchmark facilitates informed decision-making in the robotics research community.