towards a benchmark for rgb-d slam evaluation jürgen sturm 1 , stéphane magnenat 2 ,
Post on 12-Jan-2016
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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
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