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is there any benchmarks for comparing the methods of visual slam

asked 2013-01-20 18:44:39 -0600

peterli
1 ●1 ●1 ●1

updated 2014-01-28 17:14:55 -0600

ngrennan
1 ●1 ●1

I have studied the matlab code of Javier Civera's 1-point RANSAC for EKF MonoSLAM, but I find I am lack of some datasets to evaluate the visual slam system, because I don't have the powerful robot to collect good data sets. does any one know some image dataset to test the visual SLAM methods ? or else, tell me some good simulator to implement the visual SLAM methods and finally evaluate the methods

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answered 2013-01-20 21:15:42 -0600

michikarg
2108 ●19 ●37 ●52 http://hcai.in.tum.de/...

There is a dataset designed to "establish a novel benchmark for the evaluation of visual odometry and visual SLAM systems" by Jürgen Sturm at TUM:

http://vision.in.tum.de/data/datasets/rgbd-dataset

Hope that helps...

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Here's also the paper about that dataset: https://www.google.de/url?sa=t&rct=j&q=&esrc=s&source=web&cd=1&cad=rja&ved=0CDoQFjAA&url=http%3A%2F%2Fvision.in.tum.de%2F_media%2Fspezial%2Fbib%2Fendres12icra.pdf&ei=VAf9UK6QIcSAtAaS_4G4Bg&usg=AFQjCNEJgauHEKqNQbiPCgkcVbNY3TisjQ&sig2=iamLPUhgTUA8yloNx8Oeag&bv

michikarg ( 2013-01-20 21:16:26 -0600 )edit

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answered 2013-01-20 18:57:14 -0600

peterli
1 ●1 ●1 ●1

Besides, is there any community websites focus on the slam problem, so that we can discuss or study with each other?

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answered 2013-01-26 06:18:13 -0600

flag of Germany

43 ●5 ●3 http://www.ais.uni-bon...

The RGB-D-SLAM package Multiresolution Surfel Maps

code.google.com/p/mrsmap

has been tested on the TUM/Freiburg data set with good results.

It runs on CPU.

See this paper for details:

www.ais.uni-bonn.de/papers/JVCI_13_RGB-D-SLAM.pdf

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Asked: 2013-01-20 18:44:39 -0600

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Last updated: Jan 26 '13

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