Imperial College London
Alternate

ProfessorPaulKelly

Faculty of Engineering, Department of Computing

Professor of Software Technology
 
 
 
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Contact

 

+44 (0)20 7594 8332p.kelly Website

 
 
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Location

 

Level 3 (upstairs), William Penney Building, room 304William Penney LaboratorySouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Bodin:2018:10.1109/ICRA.2018.8460558,
author = {Bodin, B and Wagstaff, H and Saeedi, S and Nardi, L and Vespa, E and Mawer, J and Nisbet, A and Lujan, M and Furber, S and Davison, AJ and Kelly, PHJ and O'Boyle, MFP},
doi = {10.1109/ICRA.2018.8460558},
pages = {3637--3644},
publisher = {IEEE},
title = {SLAMBench2: multi-objective head-to-head benchmarking for visual SLAM},
url = {http://dx.doi.org/10.1109/ICRA.2018.8460558},
year = {2018}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - SLAM is becoming a key component of robotics and augmented reality (AR) systems. While a large number of SLAM algorithms have been presented, there has been little effort to unify the interface of such algorithms, or to perform a holistic comparison of their capabilities. This is a problem since different SLAM applications can have different functional and non-functional requirements. For example, a mobile phone-based AR application has a tight energy budget, while a UAV navigation system usually requires high accuracy. SLAMBench2 is a benchmarking framework to evaluate existing and future SLAM systems, both open and close source, over an extensible list of datasets, while using a comparable and clearly specified list of performance metrics. A wide variety of existing SLAM algorithms and datasets is supported, e.g. ElasticFusion, InfiniTAM, ORB-SLAM2, OKVIS, and integrating new ones is straightforward and clearly specified by the framework. SLAMBench2 is a publicly-available software framework which represents a starting point for quantitative, comparable and val-idatable experimental research to investigate trade-offs across SLAM systems.
AU  - Bodin,B
AU  - Wagstaff,H
AU  - Saeedi,S
AU  - Nardi,L
AU  - Vespa,E
AU  - Mawer,J
AU  - Nisbet,A
AU  - Lujan,M
AU  - Furber,S
AU  - Davison,AJ
AU  - Kelly,PHJ
AU  - O'Boyle,MFP
DO  - 10.1109/ICRA.2018.8460558
EP  - 3644
PB  - IEEE
PY  - 2018///
SN  - 1050-4729
SP  - 3637
TI  - SLAMBench2: multi-objective head-to-head benchmarking for visual SLAM
UR  - http://dx.doi.org/10.1109/ICRA.2018.8460558
UR  - https://ieeexplore.ieee.org/document/8460558
UR  - http://hdl.handle.net/10044/1/64308
ER  -
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