ORDSLAM dataset for comparison of outdoor RGB-D SLAM algorithms

Ponomarev, S.V., Drozdov, S.A.

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Publication in Journal of Optical Technology

For Russian citation (Opticheskii Zhurnal):

Пономарев С.В., Дроздов С.А. База данных ORDSLAM для сравнения эффективности RGB-D SLAM-алгоритмов вне помещения // Оптический журнал. 2020. Т. 87. № 12. С. 32 –42. http://doi.org/10.17586/1023-5086-2020-87-12-32-42

For citation (Journal of Optical Technology):

S. V. Ponomarev and S. A. Drozdov, "ORDSLAM dataset for comparison of outdoor RGB-D SLAM algorithms," Journal of Optical Technology. 87(12). 726-732 (2020). https://doi.org/10.1364/JOT.87.000726

Abstract:

A new dataset has been assembled to compare the efficiency of simultaneous localization and mapping algorithms out of doors in areas with high a priori uncertainty. The images were made using a high-resolution stereo camera, with reference camera trajectories being used to calculate movement within the scene based on manually identified key points. The resulting dataset of images can be used to compare the robustness of simultaneous localization and mapping algorithms under complex lighting conditions outdoors.

Keywords:

simultaneous localization and imaging of the terrain map, three-dimensional comparison of images

OCIS codes: 150.1135

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