Benchmark Solutions
This page lists all the Benchmark Solutions included in Rawseeds' Benchmarking Toolkit. Don't know what a BS or the Toolkit are? Please take a look here.
Stereo CI-Graph SLAM
We present CI-Graph, a submapping method for SLAM that uses a graph structure to efficiently solve complex trajectories reducing the computational cost. To detect loop closures a visual relocation algorithm is implemented.
GMapping
A Rao Blackwellized Particle Filter Implementation Source Code is available at openslam.org
GMapping
A Rao Blackwellized Particle Filter implementation. Sourcecode available at openslam.org.
GraphSLAM
A TORO based GraphSLAM implementation. Toro is available at openslam.org
Inverse Depth EKF based Visual Odometry using 1Point RANSAC
The sequence was processed using EKF, inverse depth parametrization for point features and 1Point RANSAC as outlier rejection algorithm. The algorithm only carries a local map of the current camera pose, deleting from the filter the rest of the map.
Hierarchical Trinocular SLAM with Loop Closure
Our method is based on a Hierarchical Trinocular SLAM algorithm, generating segment based sub-maps linked in a graph-like way. Subsequently we look for loops in the robot path and relax the sub-maps graph with a loop closure algorithm.