notesum.ai

Published at November 22

A Benchmark Dataset for Collaborative SLAM in Service Environments

cs.RO

cs.CV

Released Date: November 22, 2024

Authors: Harin Park, Inha Lee, Minje Kim, Hyungyu Park, Kyungdon Joo

Arxiv: http://arxiv.org/abs/2411.14775v1

Refer to caption

Environment	Robot	Duration (s)	Length (m)	Loop Closure				Characteristics / Challenges^†	Size	# of
				Intra	Inter					dynamic
				Intra	Follow	Intersection	Revisit			objects^*
Hospital	Robot 1	$373.1$	$124.0$	✓		✓	✓	Long corridors / Homogeneous floor	$76$ m $\times$ $45$ m	$3+16$
	Robot 2	$563.1$	$200.6$			✓	✓
	Robot 3	$509.1$	$182.8$	✓	✓	✓	✓
Office	Robot 1	$604.5$	$210.1$		✓		✓	Complex space with rooms and corridors /	$31$ m $\times$ $94$ m	$3+37$
	Robot 2	$703.5$	$238.2$	✓	✓		✓	Repetitive pattern (floor, ceiling),
	Robot 3	$508.5$	$175.9$	✓			✓	Reflective material floor
Warehouse	Robot 1	$645.0$	$250.1$		✓	✓	✓	Large regular grid structures / Homogeneous floor	$56$ m $\times$ $74$ m	$3+38$
	Robot 2	$643.1$	$254.7$	✓		✓	✓
	Robot 3	$631.1$	$251.0$	✓	✓	✓	✓