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Computer Vision Group
TUM Department of Informatics
Technical University of Munich

Technical University of Munich

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Informatik IX
Chair of Computer Vision & Artificial Intelligence

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

Follow us on:
CVG Group DVL Group

News

02.10.2020

We have five papers accepted to 3DV 2020!

30.09.2020

Our effcient deep network architectures form the AI engine of the project Slow Down COVID-19 at Harvard.

24.07.2020

Our practical course "Vision-based Navigation" (WS18, SS19) by Dr. Vladyslav Usenko and Nikolaus Demmel was honored as best practical course in the academic year 2018/2019 by the department for Informatics.

07.05.2020

We are organizing a workshop on Map-based Localization for Autonomous Driving at ECCV 2020, Glasgow, UK.

13.04.2020

Daniel Cremers received an ERC Advanced Grant (3.5 Mio Euro) for pioneering frontier research from the European Research Council. This constitutes his fifth ERC grant.

More


How to evaluate RGBD-SLAM with our datasets?

This page describes how to evaluate RGBD-SLAM using our Kinect datasets.

Code download and compilation

cd ~/ros

svn checkout https://svncvpr.in.tum.de/cvpr-ros-pkg/trunk cvpr-ros-pkg

rosmake rgbdslam_eval --rosdep-install

Dataset download and preparation

mkdir -p ~/data

cd ~/data

wget http://www9.in.tum.de/~sturmju/dirs/rgbd_datasets/freiburg1/rgbd_dataset_freiburg1_xyz.bag

wget http://www9.in.tum.de/~sturmju/dirs/rgbd_datasets/freiburg1/rgbd_dataset_freiburg1_xyz-groundtruth.txt

rosrun rgbd_benchmark_tools add_pointclouds_to_bagfile.py ~/data/rgbd_dataset_freiburg1_xyz.bag --nth 1

Run RGBDSLAM

rosrun rgbdslam_eval rgbdslam ~/data/rgbd_dataset_freiburg1_xyz-points.bag ~/data/rgbdslam_xyz.txt

cat ~/data/rgbdslam_xyz.txt

Evaluate the trajectory versus the ground truth

rosrun rgbd_benchmark_tools evaluate.py ~/data/rgbd_dataset_freiburg1_xyz-groundtruth.txt ~/data/rgbdslam_xyz.txt

Rechte Seite

Informatik IX
Chair of Computer Vision & Artificial Intelligence

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

Follow us on:
CVG Group DVL Group

News

02.10.2020

We have five papers accepted to 3DV 2020!

30.09.2020

Our effcient deep network architectures form the AI engine of the project Slow Down COVID-19 at Harvard.

24.07.2020

Our practical course "Vision-based Navigation" (WS18, SS19) by Dr. Vladyslav Usenko and Nikolaus Demmel was honored as best practical course in the academic year 2018/2019 by the department for Informatics.

07.05.2020

We are organizing a workshop on Map-based Localization for Autonomous Driving at ECCV 2020, Glasgow, UK.

13.04.2020

Daniel Cremers received an ERC Advanced Grant (3.5 Mio Euro) for pioneering frontier research from the European Research Council. This constitutes his fifth ERC grant.

More