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