Test Your SLAM! The SubT-Tunnel dataset and metric for mapping
John G. Rogers, Jason M. Gregory, Jonathan Fink, Ethan Stump
Abstract
This paper presents an approach and introduces new open-source tools that can be used to evaluate robotic mapping algorithms. Also described is an extensive subterranean mine rescue dataset based upon the DARPA Subterranean (SubT) challenge including professionally surveyed ground truth. Finally, some commonly available approaches are evaluated using this metric.
Topics & Concepts
Metric (unit)Ground truthComputer scienceOpen sourceSimultaneous localization and mappingArtificial intelligenceData miningRobotEngineeringMobile robotSoftwareOperations managementProgramming languageRobotics and Sensor-Based LocalizationRobotics and Automated SystemsUnderwater Vehicles and Communication Systems