SLAMBench 3.0: Systematic automated reproducible evaluation of SLAM systems for robot vision challenges and scene understanding
File(s)
Accepted version
Author(s)
Type
Conference Paper
Abstract
As the SLAM research area matures and the number of SLAM systems available increases, the need for frameworks that can objectively evaluate them against prior work grows. This new version of SLAMBench moves beyond traditional visual SLAM, and provides new support for scene understanding and non-rigid environments (dynamic SLAM). More concretely for dynamic SLAM, SLAMBench 3.0 includes the first publicly available implementation of DynamicFusion, along with an evaluation infrastructure. In addition, we include two SLAM systems (one dense, one sparse) augmented with convolutional neural networks for scene understanding, together with datasets and appropriate metrics. Through a series of use-cases, we demonstrate the newly incorporated algorithms, visulation aids and metrics (6 new metrics, 4 new datasets and 5 new algorithms).
Date Issued
2019-08-12
Date Acceptance
2019-05-20
Citation
2019 International Conference on Robotics and Automation (ICRA), 2019
ISBN
9781538681763
ISSN
1050-4729
Publisher
Institute of Electrical and Electronics Engineers
Journal / Book Title
2019 International Conference on Robotics and Automation (ICRA)
Copyright Statement
© 2019, IEEE.
Sponsor
Engineering & Physical Science Research Council (E
Grant Number
PO: ERZ1820653
Source
2019 International Conference on Robotics and Automation (ICRA)
Subjects
Science & Technology
Technology
Automation & Control Systems
Robotics
LOCALIZATION
ALGORITHMS
Publication Status
Published
Start Date
2019-05-20
Finish Date
2019-05-24
Coverage Spatial
Montreal, QC, Canada
Date Publish Online
2019-08-12