%0 Conference Paper %1 IROS2007 %A Wulf, O. %A Nüchter, A. %A Hertzberg, J. %A Wagner, B. %B Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '07) %C San Diego, CA, USA %D 2007 %K imported %P 650--657 %R 10.1109/IROS.2007.4399026 %T Ground Truth Evaluation of Large Urban 6D SLAM %U https://robotik.informatik.uni-wuerzburg.de/telematics/download/iros2007.pdf %X In the past many solutions for simultaneous localization and mapping (SLAM) have been presented. Recently these solutions have been extended to map large environments with six degrees of freedom (DoF) poses. To demonstrate the capabilities of these SLAM algorithms it is common practice to present the generated maps and successful loop closing. Unfortunately there is often no objective performance metric that allows to compare different approaches. This fact is attributed to the lack of ground truth data. For this reason we present a novel method that is able to generate this ground truth data based on reference maps. Further on, the resulting reference path is used to measure the absolute performance of different 6D SLAM algorithms building a large urban outdoor map.

@inproceedings{IROS2007, abstract = {In the past many solutions for simultaneous localization and mapping (SLAM) have been presented. Recently these solutions have been extended to map large environments with six degrees of freedom (DoF) poses. To demonstrate the capabilities of these SLAM algorithms it is common practice to present the generated maps and successful loop closing. Unfortunately there is often no objective performance metric that allows to compare different approaches. This fact is attributed to the lack of ground truth data. For this reason we present a novel method that is able to generate this ground truth data based on reference maps. Further on, the resulting reference path is used to measure the absolute performance of different 6D SLAM algorithms building a large urban outdoor map.}, added-at = {2017-09-19T13:40:53.000+0200}, address = {San Diego, CA, USA}, author = {Wulf, O. and N{\"u}chter, A. and Hertzberg, J. and Wagner, B.}, biburl = {https://www.bibsonomy.org/bibtex/2c096ce29c7467b51d899ae2f9b4d97af/nuechter76}, booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '07)}, doi = {10.1109/IROS.2007.4399026}, interhash = {ad38beeb857be07affddf198acc73923}, intrahash = {c096ce29c7467b51d899ae2f9b4d97af}, keywords = {imported}, month = {October}, pages = {650--657}, timestamp = {2017-09-29T16:01:21.000+0200}, title = {Ground Truth Evaluation of Large Urban 6D SLAM}, url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/iros2007.pdf}, year = 2007 }