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arXiv · 1808.06820

SLAMBench2: Multi-Objective Head-to-Head Benchmarking for Visual SLAM

Bruno Bodin·Harry Wagstaff·Sajad Saeedi·Luigi Nardi·Emanuele Vespa·John H Mayer·Andy Nisbet·Mikel Luján·Steve Furber·Andrew J Davison·Paul H. J. Kelly·Michael O'Boyle
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Abstract

SLAM is becoming a key component of robotics and augmented reality (AR) systems. While a large number of SLAM algorithms have been presented, there has been little effort to unify the interface of such algorithms, or to perform a holistic comparison of their capabilities. This is a problem since different SLAM applications can have different functional and non-functional requirements. For example, a mobile phonebased AR application has a tight energy budget, while a UAV navigation system usually requires high accuracy. SLAMBench2 is a benchmarking framework to evaluate existing and future SLAM systems, both open and close source, over an extensible list of datasets, while using a comparable and clearly specified list of performance metrics. A wide variety of existing SLAM algorithms and datasets is supported, e.g. ElasticFusion, InfiniTAM, ORB-SLAM2, OKVIS, and integrating new ones is straightforward and clearly specified by the framework. SLAMBench2 is a publicly-available software framework which represents a starting point for quantitative, comparable and validatable experimental research to investigate trade-offs across SLAM systems.

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Bruno Bodin, Harry Wagstaff, Sajad Saeedi, Luigi Nardi, Emanuele Vespa, John H Mayer, Andy Nisbet, Mikel Luján, Steve Furber, Andrew J Davison, Paul H. J. Kelly, Michael O'Boyle. 2018-08-21. SLAMBench2: Multi-Objective Head-to-Head Benchmarking for Visual SLAM. https://arxiv.org/abs/1808.06820

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