Bodin, BrunoBrunoBodinWagstaff, HarryHarryWagstaffSaeedi, SajadSajadSaeediNardi, LuigiLuigiNardiVespa, EmanueleEmanueleVespaMawer, JohnJohnMawerNisbet, AndyAndyNisbetLujan, MikelMikelLujanFurber, SteveSteveFurberDavison, Andrew JAndrew JDavisonKelly, Paul HJPaul HJKellyO'Boyle, Michael FPMichael FPO'Boyle2018-11-162018-05-212018-11-162018-05-212018 IEEE International Conference on Robotics and Automation (ICRA), 2018, pp.3637-364497815386308151050-4729http://hdl.handle.net/10044/1/64308SLAM is becoming a key component of robotics and augmented reality (AR) systems. While a large number of SLAM algorithms have been presented, there has been little effort to unify the interface of such algorithms, or to perform a holistic comparison of their capabilities. This is a problem since different SLAM applications can have different functional and non-functional requirements. For example, a mobile phone-based AR application has a tight energy budget, while a UAV navigation system usually requires high accuracy. SLAMBench2 is a benchmarking framework to evaluate existing and future SLAM systems, both open and close source, over an extensible list of datasets, while using a comparable and clearly specified list of performance metrics. A wide variety of existing SLAM algorithms and datasets is supported, e.g. ElasticFusion, InfiniTAM, ORB-SLAM2, OKVIS, and integrating new ones is straightforward and clearly specified by the framework. SLAMBench2 is a publicly-available software framework which represents a starting point for quantitative, comparable and val-idatable experimental research to investigate trade-offs across SLAM systems.© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Science & TechnologyTechnologyAutomation & Control SystemsRoboticsConference Paperhttps://www.dx.doi.org/10.1109/ICRA.2018.8460558https://ieeexplore.ieee.org/document/8460558PO: ERZ1820653