Benchmark Solution "Stereo CI-Graph SLAM"

Approved by GF
Uploaded by linapaz on 2009-10-19 15:39:15 (last modified: 2009-10-19 17:54:17)

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.

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This solution solves the following problem

  • Perform a map building activity with SLAM (online), using the sensor data files provided below. Such files come from the Bicocca_2009-02-25b data-collection session; they include output and calibration information associated to B/W trinocular (including stereo) camera system, IMU, odometry, and the ground truth for the specified session. Please note that the Bicocca_2009-02-25b session also includes other data files, not used for this Benchmark Problem. This BP belongs to the very first batch of problems published by Rawseeds; other BPs will follow. - Stereo or trinocular SLAM - Bicocca_2009-02-25b

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