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IndoorMCD: A Benchmark for Low-Cost Multi-Camera SLAM in Indoor Environments

Sewtz, Marco and Fanger, Yunis and Luo, Xiaozhou and Bodenmüller, Tim and Triebel, Rudolph (2023) IndoorMCD: A Benchmark for Low-Cost Multi-Camera SLAM in Indoor Environments. IEEE Robotics and Automation Letters, 8 (3), pp. 1707-1714. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3236840. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/10016760


Navigating mobile robots within home environments is essential for future applications, e.g. in household or within the field of elderly care. Therefore, these systems, equipped with multiple sensors, have to deal with changing environments. This work presents the IndoorMCD dataset that allows for benchmarking SLAM algorithms within static and changing indoor environments of various difficulties. The dataset provides synchronized and calibrated RGB-D images from a low-cost multi-camera setup, as well as additional IMU data. Further, highly accurate ground truth movement data is provided. It is the first dataset that provides static and changing environments for a multi-camera setup. Evaluations with state-of-the-art SLAM algorithms show the dataset's applicability and also present limitations of current approaches. The dataset is made available in a structured format and a utility library with example scripts is provided.

Item URL in elib:https://elib.dlr.de/194916/
Document Type:Article
Title:IndoorMCD: A Benchmark for Low-Cost Multi-Camera SLAM in Indoor Environments
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Sewtz, MarcoUNSPECIFIEDhttps://orcid.org/0000-0003-1662-534XUNSPECIFIED
Luo, XiaozhouUNSPECIFIEDhttps://orcid.org/0000-0002-4315-366XUNSPECIFIED
Bodenmüller, TimUNSPECIFIEDhttps://orcid.org/0000-0003-0899-361XUNSPECIFIED
Triebel, RudolphUNSPECIFIEDhttps://orcid.org/0000-0002-7975-036XUNSPECIFIED
Date:13 January 2023
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1707-1714
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Series Name:IEEE
Keywords:Data Sets for SLAM, Visual-Inertial SLAM, Localization, Mapping, RGB-D, Multi-Camera
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Multisensory World Modelling (RM) [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Sewtz, Marco
Deposited On:02 May 2023 16:33
Last Modified:02 May 2023 16:33

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