%0 Journal Article %1 JFR2007 %A Wulf, O. %A Nüchter, A. %A Hertzberg, J. %A Wagner, B. %D 2008 %J Journal of Field Robotics (JFR) %K imported %N 3 %P 148--163 %R 10.1002/rob.20234 %T Benchmarking Urban 6D SLAM %U https://robotik.informatik.uni-wuerzburg.de/telematics/download/jfr2008.pdf %V 25 %X Quite a number of approaches for solving the simultaneous localization and mapping (SLAM) problem exist by now. Some of them have recently been extended to mapping environments with six degrees of freedom (DoF) poses, yielding 6D SLAM approaches. To demonstrate the capabilities of the respective algorithms, it is common practice to present generated maps and successful loop closings in large outdoor environments. Unfortunately, it is non-trivial to compare different 6D SLAM approaches objectively, because ground truth data about the outdoor environments used for demonstration is typically unavailable. We present a novel benchmarking method for generating this ground truth data based on reference maps. The method is then demonstrated by comparing the absolute performance of some previously existing 6D SLAM algorithms which build a large urban outdoor map.

@article{JFR2007, abstract = {Quite a number of approaches for solving the simultaneous localization and mapping (SLAM) problem exist by now. Some of them have recently been extended to mapping environments with six degrees of freedom (DoF) poses, yielding 6D SLAM approaches. To demonstrate the capabilities of the respective algorithms, it is common practice to present generated maps and successful loop closings in large outdoor environments. Unfortunately, it is non-trivial to compare different 6D SLAM approaches objectively, because ground truth data about the outdoor environments used for demonstration is typically unavailable. We present a novel benchmarking method for generating this ground truth data based on reference maps. The method is then demonstrated by comparing the absolute performance of some previously existing 6D SLAM algorithms which build a large urban outdoor map. }, added-at = {2017-09-19T13:40:53.000+0200}, author = {Wulf, O. and N{\"u}chter, A. and Hertzberg, J. and Wagner, B.}, biburl = {https://www.bibsonomy.org/bibtex/2cc56dbd786bb6f1583dec8b487dcb21d/nuechter76}, doi = {10.1002/rob.20234}, interhash = {6fbeb0645d48c1b1501619f7a045d1fd}, intrahash = {cc56dbd786bb6f1583dec8b487dcb21d}, journal = {Journal of Field Robotics (JFR)}, keywords = {imported}, month = {March}, number = 3, pages = {148--163}, timestamp = {2017-09-29T16:01:21.000+0200}, title = {{Benchmarking Urban 6D SLAM}}, url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/jfr2008.pdf}, volume = 25, year = 2008 }