Towards a benchmark for RGB-D SLAM evaluation Jürgen Sturm 1 , Stéphane Magnenat 2 ,
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Poster/Demo Spotlights RGB-D 2011: Advanced Reasoning with Depth Cameras Towards a benchmark for RGB-D SLAM evaluation Jürgen Sturm 1 , Stéphane Magnenat 2 , Nikolas Engelhard 3 , François Pomerleau 2 , Francis Colas 2 , Daniel Cremers 1 , Roland Siegwart 2 , Wolfram Burgard 3 1 Technical University of Munich / 2 ETH Zurich / 3 University of Freiburg
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Towards a benchmark for RGB-D SLAM evaluation Jürgen Sturm 1 , Stéphane Magnenat 2 , Nikolas Engelhard 3 , François Pomerleau 2 , Francis Colas 2 , Daniel Cremers 1 , Roland Siegwart 2 , Wolfram Burgard 3 1 Technical University of Munich / 2 ETH Zurich / 3 University of Freiburg. - PowerPoint PPT Presentation
Transcript of Towards a benchmark for RGB-D SLAM evaluation Jürgen Sturm 1 , Stéphane Magnenat 2 ,
Poster/Demo SpotlightsPoster/Demo Spotlights
RGB-D 2011: Advanced Reasoning with Depth Cameras
Towards a benchmark for RGB-D SLAM evaluation
Jürgen Sturm1, Stéphane Magnenat2, Nikolas Engelhard3, François Pomerleau2, Francis Colas2,
Daniel Cremers1, Roland Siegwart2, Wolfram Burgard3
1Technical University of Munich / 2ETH Zurich / 3University of Freiburg
Towards a benchmark for RGB-D SLAM evaluation
Research question: How can we evaluate the performance of RGB-D SLAM systems?
We provide:
Nine RGB-D datasets with ground-truth camera trajectories Different indoor office scenes Evaluation metric Automatic evaluation tools
Motion capture system Kinect + reflective markers Typical office scene
