Introducing SLAMBench, a performance and accuracy benchmarking methodology for SLAM

Luigi Nardi, Bruno Bodin, M. Zeeshan Zia, John Mawer, Andy Nisbet, Paul H. J. Kelly, Andrew J. Davison, Mikel Luján, Michael F. P. O'Boyle, Graham Riley, Nigel Topham, Steve Furber

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Real-time dense computer vision and SLAM offer great potential for a new level of scene modelling, tracking and real environmental interaction for many types of robot, but their high computational requirements mean that use on mass market embedded platforms is challenging. Meanwhile, trends in low-cost, low-power processing are towards massive parallelism and heterogeneity, making it difficult for robotics and vision researchers to implement their algorithms in a performance-portable way. In this paper we introduce SLAMBench, a publicly-available software framework which represents a starting point for quantitative, comparable and validatable experimental research to investigate trade-offs in performance, accuracy and energy consumption of a dense RGB-D SLAM system. SLAMBench provides a KinectFusion implementation in C++, OpenMP, OpenCL and CUDA, and harnesses the ICL-NUIM dataset of synthetic RGB-D sequences with trajectory and scene ground truth for reliable accuracy comparison of different implementation and algorithms. We present an analysis and breakdown of the constituent algorithmic elements of KinectFusion, and experimentally investigate their execution time on a variety of multicore and GPUaccelerated platforms. For a popular embedded platform, we also present an analysis of energy efficiency for different configuration alternatives.
Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Automation (ICRA)
Place of PublicationSeattle, WA, USA
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages5783-5790
Number of pages8
ISBN (Electronic)978-1-4799-6923-4
DOIs
Publication statusPublished - 2 Jul 2015
Event2015 IEEE International Conference on Robotics and Automation - Seattle, United States
Duration: 26 May 201530 May 2015
http://icra2015.org/

Publication series

Name
PublisherIEEE
ISSN (Print)1050-4729

Conference

Conference2015 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2015
CountryUnited States
CitySeattle
Period26/05/1530/05/15
Internet address

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