Towards benchmarks for vision SLAM algorithms

SLAM in an outdoor environment using natural landmarks stands as the holy grail of SLAM algorithms. Segmenting landmarks from background clutter in such environments is difficult and vision, rather than laser, has a higher potential to perform such tasks due to the higher bandwidth of information it...

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Bibliographic Details
Main Authors Abdallah S.M, Asmar D.C, Zelek J.S
Format Conference Proceeding
LanguageEnglish
Published 2006
Subjects
Algorithms
Bandwidth
Benchmarking
Computer simulation
Global positioning system
Inertial Measurement Unit (IMU)
Inertial Navigation System (INS)
Information analysis
Measurement theory
Motion estimation
Pose estimation
Robotics
Stereo images
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Summary:SLAM in an outdoor environment using natural landmarks stands as the holy grail of SLAM algorithms. Segmenting landmarks from background clutter in such environments is difficult and vision, rather than laser, has a higher potential to perform such tasks due to the higher bandwidth of information it carries. There is a need to establish a benchmark upon which emerging Vision SLAM algorithms can be assessed and compared. Towards this objective, this paper proposes the infrastructure for such a benchmark and discusses the issues involved in compiling it. Ego-motion information is extracted via a strap-down Inertial Measurement Unit (IMU). Synchronized Global Positioning System (GPS), IMU, and surrounding images of an outdoor park environment are compiled into a database. IMU data in tested on an Inertial Navigation System (INS) dead-reckoning algorithm. The adequacy of the stereo image database is validated by extracting disparity maps of each stereo image in the database. IMU simulations show the necessity for Visual SLAM to improve pose estimation. The complete data set, including GPS, IMU, and stereo images is available for downloading purposes. © 2006 IEEE.
Bibliography:Orlando, FL
Publication Name: Proceedings - IEEE International Conference on Robotics and Automation; Conference Title: 2006 IEEE International Conference on Robotics and Automation, ICRA 2006; Conference Date: 15 May 2006 through 19 May 2006; Conference Location: Orlando, FL; Publication Year: 2006; Volume: 2006; Pages: (1542-1547)
Asmar, D.C., Systems Design Engineering, University of Waterloo, Waterloo, Ont. N2L 3G1, Canada
2006
9780780395060
10.1109/ROBOT.2006.1641927
Mechanical Engineering
PIIAE
Proc IEEE Int Conf Rob Autom
American University of Beirut
http://hdl.handle.net/10938/15036
Abdallah, S.M., Dept. of Mechanical Engineering, American University of Beirut, Beirut, Riad El-Solh 1107 2020, Lebanon
Proceedings - IEEE International Conference on Robotics and Automation
33845682559
Scopus
68788
Faculty of Engineering and Architecture
0780395069
Conference Title: 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 : Conference Date: 15 May 2006 through 19 May 2006 , Conference Location: Orlando, FL.
2006 IEEE International Conference on Robotics and Automation, ICRA 2006
15 May 2006 through 19 May 2006
Zelek, J.S., Systems Design Engineering, University of Waterloo, Waterloo, Ont. N2L 3G1, Canada
University: American University of Beirut; Faculty: Faculty of Engineering and Architecture; Department: Mechanical Engineering
10504729
1641927
Abdallah, S.M.; Dept. of Mechanical Engineering, American University of Beirut, Beirut, Riad El-Solh 1107 2020, Lebanon; email: Samer.Abdallah@aub.edu.lb
ISBN:9780780395060
0780395069
DOI:10.1109/ROBOT.2006.1641927