SLAMBench 3.0: Systematic automated reproducible evaluation of SLAM systems for robot vision challenges and scene understanding

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Title: SLAMBench 3.0: Systematic automated reproducible evaluation of SLAM systems for robot vision challenges and scene understanding
Authors: Bujanca, M
Gafton, P
Saeedi, S
Nisbet, A
Bodin, B
Michael F.P., O
Davison, AJ
Paul H.J., K
Riley, G
Lennox, B
Lujan, M
Furber, S
Item 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).
Issue Date: 12-Aug-2019
Date of Acceptance: 20-May-2019
URI: http://hdl.handle.net/10044/1/73402
DOI: https://doi.org/10.1109/icra.2019.8794369
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/Funder: Engineering & Physical Science Research Council (E
Funder's Grant Number: PO: ERZ1820653
Conference Name: 2019 International Conference on Robotics and Automation (ICRA)
Publication Status: Published
Start Date: 2019-05-20
Finish Date: 2019-05-24
Conference Place: Montreal, QC, Canada
Online Publication Date: 2019-08-12
Appears in Collections:Computing



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