Optimizing SLAM Evaluation Footprint Through Dynamic Range Coverage Analysis of Datasets

09/13/2022
by   Islam Ali, et al.
0

Simultaneous Localization and Mapping (SLAM) is considered an ever-evolving problem due to its usage in many applications. Evaluation of SLAM is done typically using publicly available datasets which are increasing in number and the level of difficulty. Each dataset provides a certain level of dynamic range coverage that is a key aspect of measuring the robustness and resilience of SLAM. In this paper, we provide a systematic analysis of the dynamic range coverage of datasets based on a number of characterization metrics, and our analysis shows a huge level of redundancy within and between datasets. Subsequently, we propose a dynamic programming (DP) algorithm for eliminating the redundancy in the evaluation process of SLAM by selecting a subset of sequences that matches a single or multiple dynamic range coverage objectives. It is shown that, with the help of dataset characterization and DP selection algorithm, a reduction in the evaluation effort can be achieved while maintaining the same level of coverage. Finally, we show that, in a multi-objective SLAM setup, the aggregation of multiple runs of the algorithm can achieve the same conclusions in localization accuracy by a SLAM algorithms.

READ FULL TEXT
research
02/23/2022

Are We Ready for Robust and Resilient SLAM? A Framework For Quantitative Characterization of SLAM Datasets

Reliability of SLAM systems is considered one of the critical requiremen...
research
07/11/2022

SLAM Backends with Objects in Motion: A Unifying Framework and Tutorial

Simultaneous Localization and Mapping (SLAM) algorithms are frequently d...
research
10/10/2019

Measuring robustness of Visual SLAM

Simultaneous localization and mapping (SLAM) is an essential component o...
research
09/11/2020

Evaluation of the Robustness of Visual SLAM Methods in Different Environments

Determining the position and orientation of a sensor vis-a-vis its surro...
research
03/30/2022

GTP-SLAM: Game-Theoretic Priors for Simultaneous Localization and Mapping in Multi-Agent Scenarios

Robots operating in complex, multi-player settings must simultaneously m...
research
09/16/2023

CARLA-Loc: Synthetic SLAM Dataset with Full-stack Sensor Setup in Challenging Weather and Dynamic Environments

The robustness of SLAM algorithms in challenging environmental condition...
research
06/13/2022

ICP Algorithm: Theory, Practice And Its SLAM-oriented Taxonomy

The Iterative Closest Point (ICP) algorithm is one of the most important...

Please sign up or login with your details

Forgot password? Click here to reset