Evaluation of the depth camera based SLAM algorithms
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1 Electri c Machines and Control Vol. 21 No. 12 Dec SLAM : 3 ( SLAM), SLAM V2,RTAB-Map DVO SLAM, 3 SLAM SLAM, TUM ICL-NUIM, SLAM, SLAM, SLAM :, SLAM V2;, DVO SLAM;, RTAB-Map : ; ; ; ; DOI: /j. emc TP 13 A X Evaluation of the depth camera based SLAM algorithms MAN Chun-tao 1 CAO Miao 1 2 LI Wei 1 1. School of Automation Harbin University of Science and Technology Harbin China 2. Key Laboratory of Complex System and Intelligence Science Institute of Automation China Academy of Sciences Beijing China Abstract Three typical depth camera based simultaneous localization and mapping SLAM algorithms including SLAM V2 RTAB-Map and DVO SLAM whose theories and features were introduced. By using two open-source SLAM datasets including TUM dataset and ICL-NUIM dataset the above three SLAM algorithms were evaluated and the index included the accuracy performance and robustness of the SLAM algorithms. The results of the experiments demonstrate that SLAM V2 is chosen when accuracy and robustness are prior to speed DVO SLAM is chosen when speed and robustness are prior to accuracy RTAB-Map is chosen when speed and accuracy are prior to robustness. Keywords SLAM algorithm algorithm evaluation visual odometry mapping depth camera : ( F ) : ( 1965 ),,,, ; : ( 1992 ),,, ; ( 1982 ),,,,
2 12 SLAM SLAM SLAM V2 1-2 RTAB-Map DVO SLAM 3 Kinect Xtion Pro Live 1. 1 SLAM V2 SLAM SLAMV2 SLAM Daniel 1 SLAM SLAM 3 SLAM SLAM SLAM RGB- SLAM D SLAM SLAM 4-7 SLAM SLAM SLAM SLAM SLAM Sturm 8 SLAM TUM 1 SLAM V2 Mur-Artal 9 Fig. 1 Schematic overview of SLAM V2 SLAM 3 Yousif SLAM SLAM SLAM Kinect SLAM Endres 11 SLAM TUM SLAM OpenCV 12 SLAM SLAM SLAM 3 SLAM 13 SLAM V SLAM RTAB-Map DVO SLAM SLAM TUM ICL-NUIM SLAM SLAM g 2 o 14
3 62 21 SLAM ground truth ground truth SLAM SLAM SLAM ICL-NUIM OctoMap 15 TUM 1 SLAM 1. 2 RTAB-Map 2 RTAB-Map SLAM ICL-NUIM SLAM TUM Michaud 16 3 SURF 2. 2 t t ground truth SLAM F = Q -1 SP Q ground truth P 1. 3 DVO SLAM DVO SLAM Horn SLAM 18 Christian 19 P Q S 1 2 t SLAM ground truth F t 3 g 2 o 2 SLAM V2 RTAB-Map DVO SLAM 3 SLAM TUM 20 ICL-NUIM SLAM V2 RT- 21 SLAM AB-Map ICL-NUIM DVO SLAM 1 Intel Core i7 SLAM V2 RTAB-Map GHz 16GB SLAM V RTAB-Map 2 DVO SLAM ground truth F max m 1 SLAM V2 RTAB-Map 2 TUM DVO SLAM SLAM SLAM V2 RTAB-Map TUM xyz SLAM
4 12 SLAM 63 RTAB-Map DVO SLAM DVO SLAM RGB- 1 SLAM TUM D SLAM Table 1 Accuracy of the SLAM algorithm with SLAM V2 respect to the TUM dataset SLAM 1 RGB- D SLAM SLAM SLAM t SLAM t SLAM t - t SLAM Table 2 Accuracy of the SLAM algorithm with 3 4 s respect to the ICL-NUIM dataset 1 TUM DVO SLAM SLAM V2 SLAM V2 RTAB-Map ICL-NUIM DVO SLAM SLAM V2 RTAB-Map fr1_ fr1_desk fr1_floor fr1_plant fr1_room fr1_teddy SLAM ICL-NUIM room room room room RTAB-Map Fig. 2 Robustness of the RTAB-Map algorithm SLAM s SLAM 1 TUM DVO SLAM SLAM V2 SLAM RTAB-Map ICL-NUIM SLAM V2 RTAB-Map DVO SLAM SLAM SLAM
5 64 21 SLAM SLAM Table 3 SLAM ICL-NUIM Runtime of the SLAM algorithm with respect to the ICL-NUIM dataset room room room room Table 4 SLAM TUM Runtime of the SLAM algorithm with respect to the TUM dataset fr1_ fr1_desk fr1_floor fr1_plant fr1_room fr1_teddy Map fr1_360 fr1_desk2 fr1_room fr1_teddy room0 room3 2 a TUM fr1_desk2 SLAM 2 b 2 c 2 d 1 SLAM TUM fr1 _360 fr1 _room fr1 _teddy 2 e 2 f SLAM V2 2 SLAM 3 RTAB-Map 2 RTAB- SLAM ICL-NUIM room0 room3 SLAM SLAM 2 RTAB- RTAB-Map Map 3 SLAM SLAM RTAB-Map DVO SLAM SLAM 1 RGB- D SLAM V2 DVO SLAM 100% 2 RTAB-Map 6 10 SLAM V2 DVO SLAM RTAB-Map Table 5 5 SLAM Robustness of the SLAM algorithm TUM 6 /6 3 /6 6 /6 ICL-NUIM 4 /4 3 /4 4 /4 3 SLAM 1 SLAM V2 SIFT 22 2 DVO SLAM SLAM DVO SLAM SLAM RTAB-Map SLAM SLAM SLAM
6 12 SLAM 65 SLAM 11 ENDRES F SLAM SLAM SLAM SLAM J MAN Chuntao CAO Miao Cao Yongcheng et al. Tracking and obstacle avoidance strategy for a bionic robot-rat J. Electric Machines and Control J. probabilistic flexible and compact 3D map representation for robotic systems C / / Proc. of the ICRA Workshop on Best Prac GUO Xu XIONGRong HU Xiehe. Motion predictive control of omni-directional mobile robot J. Electric Machines and Control Manipulation. tice in 3D Perception and Modeling for Mobile CADENA C CARLONE L CARRILLO H et al. Past present and future of simultaneous localization and mapping toward the robustperception age J. IEEE Transactions on Robotics THRUN S. Robotic mapping a survey M / / Exploring artificial intelligence in the new millennium. Morgan Kaufmann Publishers Inc NUCHTER A LINGEMANN K HERTZBERG J et al. 6 D SLAM with approximate data association C / / International Conference on Advanced Robotics IEEE GRISETTI G GRZONKA S STACHNISS C et al. Efficient estimation of accurate maximum likelihood maps in 3D C / /Ieee /rsj International Conference on Intelligent Robots and Systems. IEEE FRESE U LARSSON P DUCKETT T. A multilevel relaxation algorithm for simultaneous localization and mapping J. IEEE Transactions on Robotics STURM J ENGELHARD N ENDRES F et al. A benchmark for theevaluation of SLAM system C / / Ieee /rsj International Conference on Intelligent Robots and Systems. IEEE MURARTAL R TARDOS J D. ORB-SLAM2 an open-source SLAM system for monocular stereo and cameras J. IEEE Transactions or Robotics YOUSIF K BABHADIASHAR A HOSEINNEZHAD R. Realtime registration and mapping in texture-less environments using ranked order statistics C / / Ieee /rsj International Conference on Intelligent Robots and Systems. IEEE HESS J STURM J et al. 3-D mapping with an RGB- D camera J. IEEE Transactions on Robotics BRADSKI G KAEHLER A. Learning opencv computer vision in C + + with the opencv library M. O'Reilly Media Inc FISCHLER M A BOLLES R C. Random sample consensus a paradigm for model fitting with applications to image analysis and automated cartography J. Readings in Computer Vision 14 K MMERLE R GRISETTI G STRASDAT H et al. G2o a general framework for graph optimization C / /IEEE International Conference on Robotics and Automation. IEEE 2011 e WURM K M HORNUNG A BENNEWITZ M et al. OctoMap a 16 LABB M MICHAUD F. Online global loop closure detection for large-scale multi-session graph-based SLAM C / / International Conference on Intelligent Robots and Systems. IEEE KERL C STURM J CREMERS D. Robust odometry estimation for cameras C / / IEEE International Conference on Robotics and Automation. IEEE HENRY P KRAININ M HERBST E et al. mapping Using kinect-style depth cameras for dense 3D modeling of indoor environments M / / Experimental Robotics. Springer Berlin Heidelberg STUCKLER J BEHNKE S. Integrating depth and color cues for dense multi-resolution scene mapping using cameras C / / Multi-sensor Fusion and Integration for Intelligent Systems. IEEE ENDRES F HESS J ENGELHARD N et al. Anevaluation of the SLAM system C / /IEEE International Conference on Robotics and Automation. IEEE HANDA A WHELAN T MCDONALD J et al. A benchmark for visual odometry 3D reconstruction and SLSM C / / IEEE International Conference on Robotics and Automation. IEEE J WANG Fochi YAN Kang ZHANG Chongyuan et al. Identifying insultor hydrophobicity by image analysis and nueral network J. Electric Machines and Control ( : )
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