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A benchmark for the evaluation of RGBD SLAM systems (2012)
| Venue: | In International Conference on Intelligent Robot Systems (IROS |
| Citations: | 70 - 11 self |
BibTeX
@INPROCEEDINGS{Sturm12abenchmark,
author = {Jürgen Sturm and Nikolas Engelhard and Felix Endres and Wolfram Burgard and Daniel Cremers},
title = {A benchmark for the evaluation of RGBD SLAM systems},
booktitle = {In International Conference on Intelligent Robot Systems (IROS},
year = {2012}
}
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Abstract
Abstract — In this paper, we present a novel benchmark for the evaluation of RGB-D SLAM systems. We recorded a large set of image sequences from a Microsoft Kinect with highly accurate and time-synchronized ground truth camera poses from a motion capture system. The sequences contain both the color and depth images in full sensor resolution (640 × 480) at video frame rate (30 Hz). The ground-truth trajectory was obtained from a motion-capture system with eight high-speed tracking cameras (100 Hz). The dataset consists of 39 sequences that were recorded in an office environment and an industrial hall. The dataset covers a large variety of scenes and camera motions. We provide sequences for debugging with slow motions as well as longer trajectories with and without loop closures. Most sequences were recorded from a handheld Kinect with unconstrained 6-DOF motions but we also provide sequences from a Kinect mounted on a Pioneer 3 robot that was manually navigated through a cluttered indoor environment. To stimulate the comparison of different approaches, we provide automatic evaluation tools both for the evaluation of drift of visual odometry systems and the global pose error of SLAM systems. The benchmark website [1] contains all data, detailed descriptions of the scenes, specifications of the data formats, sample code, and evaluation tools. I.
Keyphrases
rgbd slam system industrial hall benchmark website slow motion data format evaluation tool novel benchmark slam system image sequence full sensor resolution motion capture system handheld kinect automatic evaluation tool loop closure microsoft kinect different approach global pose error motion-capture system depth image sample code rgb-d slam system camera motion time-synchronized ground truth camera cluttered indoor environment video frame rate visual odometry system large variety detailed description unconstrained 6-dof motion office environment ground-truth trajectory large set
