OpenSLAM. Benchmarking in Graph-Based SLAM

Giorgio Grisetti & Cyrill Stachniss

One key element of benchmarks is the ability to compare different approaches. In this talk, we will present two aspects that will allow researchers to compare their SLAM algorithms. The first part will introduce the OpenSLAM platform - an open source repository for SLAM implementations. In the second part, we propose a framework for graph-based SLAM that allows the user to analyze the individual components of such a system. This framework presents an abstract view to the problem so that users can focus on the development and evaluation of the individual sub-problems. This includes loop-closure detection, matching of observation, optimization or filtering.