期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2013
卷号：7
期号：2
页码：46
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：This paper presents the new benchmark data registra-Ɵon system aimed at facilitaƟng the development andevaluaƟon of the visual odometry and SLAM algorithms.The WiFiBOT LAB V3 wheeled robot equipped with threecameras, XSENS MTi aƫtude and heading reference system(AHRS) and Hall encoders can be used to gather datain indoor exploraƟon scenarios. The ground truth trajectoryof the robot is obtained using the visual moƟontracking system. AddiƟonal staƟc cameras simulaƟng thesurveillance network, as well as arƟficial markers augmenƟngthe navigaƟon are incorporated in the system.The datasets registered with the presented system will befreely available for research purposes.
