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Towards a benchmark for RGB-D SLAM evaluation Jürgen Sturm 1 , Stéphane Magnenat 2 ,

Towards a benchmark for RGB-D SLAM evaluation Jürgen Sturm 1 , Stéphane Magnenat 2 , Nikolas Engelhard 3 , François Pomerleau 2 , Francis Colas 2 , Daniel Cremers 1 , Roland Siegwart 2 , Wolfram Burgard 3 1 Technical University of Munich / 2 ETH Zurich / 3 University of Freiburg.

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Towards a benchmark for RGB-D SLAM evaluation Jürgen Sturm 1 , Stéphane Magnenat 2 ,

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  1. Towards a benchmark for RGB-D SLAM evaluation Jürgen Sturm1, Stéphane Magnenat2, Nikolas Engelhard3, François Pomerleau2, Francis Colas2, Daniel Cremers1, Roland Siegwart2, Wolfram Burgard3 1Technical University of Munich / 2ETH Zurich / 3University of Freiburg

  2. Towards a benchmark for RGB-D SLAM evaluation • Research question:How can we evaluate the performance of RGB-D SLAM systems? • We provide: Nine RGB-D datasets with ground-truth camera trajectories • Different indoor office scenes • Evaluation metric • Automatic evaluation tools Motion capture system Kinect + reflective markers Typical office scene

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