slam_benchmarks
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An index to SLAM benchmarks, competition, datasets, evaluation tools
An index of resources for SLAM algorithm evaluation. Contribution is welcome!
Online benchmarks & competition results
SLAM-for-AR Competition @ ISMAR2019
Lifelong Robotic Vision Competition @ IROS 2019 - Lifelong SLAM Challenge
ETH3D SLAM & Stereo Benchmarks
Datasets
| Dataset | Year | Agent | Data | Ground-truth | Scene | Scene changes |
|---|---|---|---|---|---|---|
| COLD | 2009 | Robot | mono + omni + odom | laser | lab | illumination/objects |
| TUM RGB-D | 2012 | Handheld/robot | RGBD | MoCap | office/work shed | - |
| KITTI Odometry | 2012 | Car | stereo + laser | GPS/OXTS | suburban/highway | moving objects |
| NYUv2 | 2012 | Handheld | RGBD | None | home/office | - |
| ICL-NUIM | 2014 | Synthetic data | RGBD | simulator | home/office | - |
| EuRoC | 2016 | Drone | stereo + IMU | Vicon MoCap / laser | work shed | - |
| SceneNet RGB-D | 2017 | Synthetic data | RGBD | simulator | home | |
| TUM VI | 2018 | Handheld | stereo + IMU | MoCap | campus buildings | - |
| Bonn RGB-D Dynamic Dataset | 2019 | Handheld | RGBD | MoCap | lab | moving object |
| InteriorNet | 2019 | Synthetic data | RGBD + IMU | simulator | home | illumination/objects (simulation) |
| OpenLORIS-Scene | 2019 | Robot | RGBD + stereo fisheyes + IMU + odom | MoCap / laser | home/office/cafe/supermarket | illumination/objects (real life) |
Evaluation Tools (TODO)
TUM script
EVO
Survey Papers
Simultaneous Localization and Mapping in the Epoch of Semantics: A Survey 2018
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