· 2012
A benchmark for the evaluation of RGB-D SLAM systems
- 3,948citations
- 2012year
Short summary
A new benchmark dataset and evaluation tools are introduced for RGB-D SLAM systems, featuring high-accuracy ground truth from a motion capture system and diverse sequences recorded in office and industrial environments.
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Key points
- Dataset includes 39 RGB-D sequences with high-accuracy ground truth poses from a motion capture system.
- Data captured at full sensor resolution (640x480) and video frame rate (30 Hz).
- Includes sequences for debugging, long trajectories, and loop closures in diverse indoor environments.
- Automatic evaluation tools for visual odometry drift and global SLAM pose error are provided.
AI-generated from the title and abstract; the full text is not read.
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.
The authors' abstract, as published at the source., 2012 · DOI ↗
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Field: Aerospace Engineering
Aerospace EngineeringEngineering