The Registration System for the Evaluation of Indoor Visual Slam and Odometry Algorithms

摘要

This paper presents the new benchmark data registra-tion system aimed at facilitating the development andevaluation of the visual odometry and SLAM algorithms.The WiFiBOT LAB V3 wheeled robot equipped with threecameras, XSENS MTi a?tude and heading reference system(AHRS) and Hall encoders can be used to gather datain indoor exploration scenarios. The ground truth trajectoryof the robot is obtained using the visual motiontracking system. Additional static cameras simulating thesurveillance network, as well as artificial markers augmentingthe navigation are incorporated in the system.The datasets registered with the presented system will befreely available for research purposes.