Benchmarking Toolkit

BS “GraphSLAM” [outdoor/mixed]

BS “GMapping” [outdoor/mixed]

BS “Vasco Scan-Matcher” [outdoor/mixed]

BS “GraphSLAM” [indoor]

BS “Vasco Scan-Matcher” [indoor]

BS “GMapping” [indoor]

BS “Inverse Depth EKF based Visual Odometry using 1Point RANSAC”

BS “Hierarchical Trinocular SLAM with Loop Closure”

BS “Stereo CI-Graph SLAM”

Self Localization Error

Rough Estimate of Complexity

Relative Pose Error

Mapping Error

Absolute Trajectory Error

BP “Multisensor SLAM – Bovisa_2008-10-04″

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