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TUM School of Computation, Information and Technology
Technical University of Munich

Technical University of Munich

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Informatik IX
Computer Vision Group

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

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News

04.03.2024

We have twelve papers accepted to CVPR 2024. Check our publication page for more details.

18.07.2023

We have four papers accepted to ICCV 2023. Check out our publication page for more details.

02.03.2023

CVPR 2023

We have six papers accepted to CVPR 2023. Check out our publication page for more details.

15.10.2022

NeurIPS 2022

We have two papers accepted to NeurIPS 2022. Check out our publication page for more details.

15.10.2022

WACV 2023

We have two papers accepted at WACV 2023. Check out our publication page for more details.

More


This is an old revision of the document!


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
Computer Vision Group

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

Follow us on:

News

04.03.2024

We have twelve papers accepted to CVPR 2024. Check our publication page for more details.

18.07.2023

We have four papers accepted to ICCV 2023. Check out our publication page for more details.

02.03.2023

CVPR 2023

We have six papers accepted to CVPR 2023. Check out our publication page for more details.

15.10.2022

NeurIPS 2022

We have two papers accepted to NeurIPS 2022. Check out our publication page for more details.

15.10.2022

WACV 2023

We have two papers accepted at WACV 2023. Check out our publication page for more details.

More