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arXiv · 1905.09483

Towards Generation and Evaluation of Comprehensive Mapping Robot Datasets

Hongyu Chen·Xiting Zhao·Jianwen Luo·Zhijie Yang·Zehao Zhao·Haochuan Wan·Xiaoya Ye·Guangyuan Weng·Zhenpeng He·Tian Dong·Sören Schwertfeger
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Abstract

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.

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Hongyu Chen, Xiting Zhao, Jianwen Luo, Zhijie Yang, Zehao Zhao, Haochuan Wan, Xiaoya Ye, Guangyuan Weng, Zhenpeng He, Tian Dong, Sören Schwertfeger. 2019-05-23. Towards Generation and Evaluation of Comprehensive Mapping Robot Datasets. https://arxiv.org/abs/1905.09483

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