Benchmark of visual and 3D lidar SLAM systems in simulation environment for vineyards

Hroob, Ibrahim, Polvara, Riccardo, Molina Mellado, Sergio , Cielniak, Grzegorz and Hanheide, Marc (2021) Benchmark of visual and 3D lidar SLAM systems in simulation environment for vineyards. In: Towards Autonomous Robotic Systems Conference (TAROS).

TAROS2021_paper_36.pdf - Whole Document

Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


In this work, we present a comparative analysis of the trajectories estimated from various Simultaneous Localization and Mapping (SLAM) systems in a simulation environment for vineyards. Vineyard environment is challenging for SLAM methods, due to visual appearance changes over time, uneven terrain, and repeated visual patterns. For this reason, we created a simulation environment specifically for vineyards to help studying SLAM systems in such a challenging environment. We evaluated the following SLAM systems: LIO-SAM, StaticMapping, ORB-SLAM2, and RTAB-MAP in four different scenarios. The mobile robot used in this study is equipped with 2D and 3D lidars, IMU, and RGB-D camera (Kinect v2). The results show good and encouraging performance of RTAB-MAP in such an environment.

Keywords:Agricultural Robotics, Visual SLAM, Lidar SLAM
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
ID Code:45642
Deposited On:31 Aug 2021 14:39

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