compareTrajectories

Compare estimated trajectory against ground truth

Since R2024b

Syntax

metrics = compareTrajectories(estimatedPoses,groundTruthPose)

metrics = compareTrajectories(___,Name=Value)

Description

metrics = compareTrajectories(estimatedPoses,groundTruthPose) returns metrics for the accuracy of an estimated trajectory, estimatedPoses, against a ground truth trajectory groundTruthPose, to assess the performance of an odometry or a Simultaneous Localization and Mapping (SLAM) system.

The function aligns the estimated trajectory to the ground truth trajectory by performing a least-square fitting between the translation components of poses in the two trajectories.

metrics = compareTrajectories(___,Name=Value) specifies options using one or more name-value arguments in addition to the previous syntaxes. For example, AlignmentType="none" sets the transformation type to "none" when aligning the estimated trajectory to the ground truth trajectory.

Input Arguments

estimatedPoses — Estimated poses

M-element array

Estimated poses, specified as an M-element array of rigidtform3d objects. The estimated poses can be obtained from an odometry or a SLAM system.

groundTruthPose — Ground truth poses

M-element array

Ground truth poses, specified as an M-element array of rigidtform3d objects. The ground truth poses are obtained from an external ground truth system.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: compareTrajectories(estimatedPoses,groundTruthPose,AlignmentType="none") sets the transformation type to "none" when aligning the estimated trajectory to the ground truth trajectory.

AlignmentType — Transformation type

"rigid" (default) | "similarity" | "none"

Transformation type to align the estimated trajectory to the ground truth trajectory, specified as "rigid", "similarity", or "none". To disable trajectory alignment, set AlignmentType to "none".

EvaluationInterval — Fixed distance to compute relative trajectory error

1 (default) | scalar

Fixed distance to compute relative trajectory error for each pose within the estimated trajectory, specified as a scalar in world units.

Output Arguments

metrics — Error metrics object

trajectoryErrorMetrics object

Error metrics object, returned as an trajectoryErrorMetrics object. The object stores error metrics including the absolute trajectory error and the relative trajectory error.

References

[1] Sturm, Jürgen, Nikolas Engelhard, Felix Endres, Wolfram Burgard, and Daniel Cremers. 2012. "A Benchmark for the Evaluation of RGB-D SLAM Systems." In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 573-580.

[2] Zhang, Zichao, and Davide Scaramuzza. 2018. "A Tutorial on Quantitative Trajectory Evaluation for Visual (-Inertial) Odometry." In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 7244-7251.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2024b