A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM

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Title: A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM
Author(s): Handa, A
Whelan, T
McDonald, J
Davison, AJ
Item Type: Conference Paper
Abstract: We introduce the Imperial College London and National University of Ireland Maynooth (ICL-NUIM) dataset for the evaluation of visual odometry, 3D reconstruction and SLAM algorithms that typically use RGB-D data. We present a collection of handheld RGB-D camera sequences within synthetically generated environments. RGB-D sequences with perfect ground truth poses are provided as well as a ground truth surface model that enables a method of quantitatively evaluating the final map or surface reconstruction accuracy. Care has been taken to simulate typically observed real-world artefacts in the synthetic imagery by modelling sensor noise in both RGB and depth data. While this dataset is useful for the evaluation of visual odometry and SLAM trajectory estimation, our main focus is on providing a method to benchmark the surface reconstruction accuracy which to date has been missing in the RGB-D community despite the plethora of ground truth RGB-D datasets available.
Publication Date: 29-Sep-2014
Date of Acceptance: 31-May-2014
URI: http://hdl.handle.net/10044/1/64914
DOI: https://dx.doi.org/10.1109/ICRA.2014.6907054
ISBN: 9781479936854
ISSN: 1050-4729
Publisher: IEEE
Start Page: 1524
End Page: 1531
Journal / Book Title: 2014 IEEE International Conference on Robotics and Automation (ICRA)
Conference Name: IEEE International Conference on Robotics and Automation (ICRA)
Copyright Statement: © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Keywords: Science & Technology
Technology
Automation & Control Systems
Robotics
Science & Technology
Technology
Automation & Control Systems
Robotics
Publication Status: Published
Start Date: 2014-05-31
Finish Date: 2014-06-07
Conference Place: Hong Kong, China
Online Publication Date: 2014-09-29
Appears in Collections:Faculty of Engineering
Computing



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