publication . Conference object . 2009

A Comparison of SLAM Algorithms Based on a Graph of Relations

Wolfram Burgard; Cyrill Stachniss; Giorgio Grisetti; Bastian Steder; Rainer Kümmerle; Christian Dornhege; Michael Ruhnke; Alexander Kleiner; Juan D. Tardós;
Open Access English
  • Published: 01 Jan 2009
  • Publisher: University of Freiburg
  • Country: Sweden
Abstract
In this paper, we address the problem of creating an objective benchmark for comparing SLAM approaches. We propose a framework for analyzing the results of SLAM approaches based on a metric for measuring the error of the corrected trajectory. The metric uses only relative relations between poses and does not rely on a global reference frame. The idea is related to graph-based SLAM approaches, namely to consider the energy that is needed to deform the trajectory estimated by a SLAM approach into the ground truth trajectory. Our method enables us to compare SLAM approaches that use different estimation techniques or different sensor modalities since all computatio...
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Subjects
arXiv: Computer Science::Robotics
free text keywords: Robotics, Robot, Artificial intelligence, business.industry, business, Estimation theory, Reference frame, Trajectory, Ground truth, Mathematics, Benchmark (computing), Simultaneous localization and mapping, Machine learning, computer.software_genre, computer
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