Benchmark Solution "Hierarchical Trinocular SLAM with Loop Closure"

Approved by GF
Uploaded by rawseedsunimib on 2009-10-19 17:23:15 (last modified: 2009-10-19 17:24:52)

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.

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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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