Towards Generation and Evaluation of Comprehensive Mapping Robot Datasets

05/23/2019
by   Hongyu Chen, et al.
0

This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. We also employ a professional, static 3D scanner for ground truth map collection. Three datasets are generated to evaluate the performance of mapping algorithms within a room and between rooms. Based on these datasets we generate maps and trajectory data, which is then fed into evaluation algorithms. The mapping and evaluation procedures are made in a very easily reproducible manner for maximum comparability. In the end we can draw a couple of conclusions about the tested SLAM algorithms.

READ FULL TEXT

page 1

page 2

page 3

page 4

page 5

page 6

page 8

research
07/23/2020

Advanced Mapping Robot and High-Resolution Dataset

This paper presents a fully hardware synchronized mapping robot with sup...
research
02/08/2021

Datasets and Evaluation for Simultaneous Localization and Mapping Related Problems: A Comprehensive Survey

Simultaneous Localization and Mapping (SLAM) has found an increasing uti...
research
05/31/2021

MAOMaps: A Photo-Realistic Benchmark For vSLAM and Map Merging Quality Assessment

Running numerous experiments in simulation is a necessary step before de...
research
12/03/2019

Room Detection for Topological Maps

Mapping is an important part of many robotic applications. In order to m...
research
09/21/2023

RTS-GT: Robotic Total Stations Ground Truthing dataset

Numerous datasets and benchmarks exist to assess and compare Simultaneou...
research
10/27/2021

Efficient Placard Discovery for Semantic Mapping During Frontier Exploration

Semantic mapping is the task of providing a robot with a map of its envi...
research
10/08/2019

Advanced Autonomy on a Low-Cost Educational Drone Platform

PiDrone is a quadrotor platform created to accompany an introductory rob...

Please sign up or login with your details

Forgot password? Click here to reset