SLAMBench2: Multi-Objective Head-to-Head Benchmarking for Visual SLAM

Bruno Bodin, Harry Wagstaff, Sajad Saeedi, Luigi Nardi, Emanuele Vespa, John H Mayer, Andy Nisbet, Mikel Luján, Steve Furber, Andrew J Davison, Paul H.J. Kelly, Michael O'Boyle

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

Abstract

SLAM 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 phonebased 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 validatable experimental research to investigate trade-offs across SLAM systems.
Original languageEnglish
Title of host publicationThe International Conference in Robotics and Automation 2018
Place of PublicationBrisbane, QLD, Australia
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages3637-3644
Number of pages8
ISBN (Electronic)978-1-5386-3081-5
ISBN (Print)978-1-5386-3082-2
DOIs
Publication statusPublished - 13 Sep 2018
Event2018 IEEE International Conference on Robotics and Automation - The Brisbane Convention & Exhibition Venue, Brisbane, Australia
Duration: 21 May 201825 May 2018
http://icra2018.org/

Publication series

Name
PublisherIEEE
ISSN (Electronic)2577-087X

Conference

Conference2018 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA2018
Country/TerritoryAustralia
CityBrisbane
Period21/05/1825/05/18
Internet address

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