Measuring robustness of Visual SLAM

@article{Prokhorov2019MeasuringRO,
  title={Measuring robustness of Visual SLAM},
  author={David Prokhorov and D. Zhukov and O. Barinova and A. Konushin and A. Vorontsova},
  journal={2019 16th International Conference on Machine Vision Applications (MVA)},
  year={2019},
  pages={1-6}
}
  • David Prokhorov, D. Zhukov, +2 authors A. Vorontsova
  • Published 2019
  • Computer Science, Mathematics
  • 2019 16th International Conference on Machine Vision Applications (MVA)
  • Simultaneous localisation and mapping (SLAM) is an essential component of robotic systems. [...] Key Result In this work we extensively evaluate ORBSLAM2 to better understand the state-of-the-art. First, we conduct experiments on the popular publicly available datasets for RGB-D SLAM across the conventional metrics. We perform statistical analysis of the results and find correlations between the metrics and the attributes of the trajectories. Then, we introduce a new large and diverse HomeRobot dataset where we…Expand Abstract

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