A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
Estimating uncertain spatial relationships in robotics
Autonomous robot vehicles
An Experimental Comparison of Range Image Segmentation Algorithms
IEEE Transactions on Pattern Analysis and Machine Intelligence
Estimation with Applications to Tracking and Navigation
Estimation with Applications to Tracking and Navigation
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
Fast, On-Line Learning of Globally Consistent Maps
Autonomous Robots
An Automated Method for Large-Scale, Ground-Based City Model Acquisition
International Journal of Computer Vision
Benchmarking urban six-degree-of-freedom simultaneous localization and mapping
Journal of Field Robotics
Robust and efficient robotic mapping
Robust and efficient robotic mapping
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
A comparison of SLAM algorithms based on a graph of relations
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A multilevel relaxation algorithm for simultaneous localization and mapping
IEEE Transactions on Robotics
Hierarchical SLAM: Real-Time Accurate Mapping of Large Environments
IEEE Transactions on Robotics
Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters
IEEE Transactions on Robotics
A comparison of SLAM algorithms based on a graph of relations
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Improving odometry using a controlled point laser
Autonomous Robots
A hybrid approach to 2D robotic map evaluation
Proceedings of the Workshop on Performance Metrics for Intelligent Systems
Robotics and Autonomous Systems
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In this paper, we address the problem of creating an objective benchmark for evaluating SLAM approaches. We propose a framework for analyzing the results of a SLAM approach based on a metric for measuring the error of the corrected trajectory. This metric uses only relative relations between poses and does not rely on a global reference frame. This overcomes serious shortcomings of approaches using a global reference frame to compute the error. Our method furthermore allows us to compare SLAM approaches that use different estimation techniques or different sensor modalities since all computations are made based on the corrected trajectory of the robot.We provide sets of relative relations needed to compute our metric for an extensive set of datasets frequently used in the robotics community. The relations have been obtained by manually matching laser-range observations to avoid the errors caused by matching algorithms. Our benchmark framework allows the user to easily analyze and objectively compare different SLAM approaches.