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data:datasets:rgbd-dataset [2012/08/17 16:46] sturmju |
data:datasets:rgbd-dataset [2017/06/30 16:28] Nikolaus Demmel |
===== How can I use the RGB-D Benchmark to evaluate my SLAM system? ===== | ===== How can I use the RGB-D Benchmark to evaluate my SLAM system? ===== |
- [[:data:datasets:rgbd-dataset:download|Download one or more of the RGB-D benchmark sequences]] ([[:data:datasets:rgbd-dataset:file_formats|file formats]], [[:data:datasets:rgbd-dataset:tools|useful tools]]) | - [[:data:datasets:rgbd-dataset:download|Download one or more of the RGB-D benchmark sequences]] ([[:data:datasets:rgbd-dataset:file_formats|file formats]], [[:data:datasets:rgbd-dataset:tools|useful tools]]) |
- Run your favorite visual odometry/visual SLAM algorithm (for example, [[http://www.ros.org/wiki/rgbdslam/evaluation|RGB-D SLAM]]) | - Run your favorite visual odometry/visual SLAM algorithm (for example, [[http://www.ros.org/wiki/rgbdslam_electric/evaluation|RGB-D SLAM]]) |
- Save the estimated camera trajectory to a file ([[:data:datasets:rgbd-dataset:file_formats|file formats]], {{https://svncvpr.in.tum.de/cvpr-ros-pkg/trunk/rgbd_benchmark/rgbd_benchmark_tools/data/rgbdslam/freiburg1_xyz-rgbdslam.txt|example trajectory}}) | - Save the estimated camera trajectory to a file ([[:data:datasets:rgbd-dataset:file_formats|file formats]], {{https://svncvpr.in.tum.de/cvpr-ros-pkg/trunk/rgbd_benchmark/rgbd_benchmark_tools/data/rgbdslam/freiburg1_xyz-rgbdslam.txt|example trajectory}}) |
- Evaluate your algorithm by comparing the estimated trajectory with the ground truth trajectory. We provide an [[:data:datasets:rgbd-dataset:tools#evaluation|automated evaluation tool]] to help you with the evaluation. There is also an [[:data:datasets:rgbd-dataset:Online Evaluation|online version]] of the tool. | - Evaluate your algorithm by comparing the estimated trajectory with the ground truth trajectory. We provide an [[:data:datasets:rgbd-dataset:tools#evaluation|automated evaluation tool]] to help you with the evaluation. There is also an [[:data:datasets:rgbd-dataset:Online Evaluation|online version]] of the tool. |
* If you have any questions about the dataset/benchmark/evaluation/file formats, please don't hesitate to contact [[:members:sturmju|Jürgen Sturm]]. | * If you have any questions about the dataset/benchmark/evaluation/file formats, please don't hesitate to contact [[:members:sturmju|Jürgen Sturm]]. |
* We are happy to share our data with other researchers. Please refer to the [[http://vision.in.tum.de/data/datasets/rgbd-dataset?key=sturm12iros|respective publication]] when using this data. | * We are happy to share our data with other researchers. Please refer to the [[http://vision.in.tum.de/data/datasets/rgbd-dataset?key=sturm12iros|respective publication]] when using this data. |
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| ===== License ===== |
| Unless stated otherwise, all data in the TUM RGB-D benchmark is licensed |
| under a [[https://creativecommons.org/licenses/by/4.0/|Creative Commons 4.0 Attribution License (CC BY 4.0)]] and the accompanying |
| source code is licensed under a [[https://opensource.org/licenses/BSD-2-Clause|BSD-2-Clause License]]. |
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===== Related publications ===== | ===== Related publications ===== |