Simultaneous Localization and Mapping Related Datasets: A Comprehensive Survey
Shanghai Jiao Tong University（上海交通大学）；Harbin Institute of Technology（哈尔滨工业大学）；Ghent University（根特大学）；Interuniversity Microelectronics Center (imec)（校际微电子中心（imec））
由于流程复杂且硬件成本高昂，同步定位与地图构建（Simultaneous Localization and Mapping，SLAM）一直高度依赖公共数据集进行训练和评估，由此产生了许多令人印象深刻的演示和良好的基准分数。然而形成鲜明对比的是，SLAM在走向成熟部署的道路上仍步履维艰，这敲响了警钟：部分数据集被过度曝光，导致了有偏的使用与评估。这就提出了如何全面获取现有数据集并正确选择它们的问题。此外，当前数据集确实存在局限性，那么应如何构建新数据集，又该走向哪些方向？尽管如此，目前尚不存在一项能够解决上述问题的全面综述，而这正是学界迫切需要的。为填补这一空白，本文力求涵盖一系列与SLAM相关数据集紧密关联的主题，包括通用采集方法和基本特征维度、SLAM相关任务分类与数据集归类、最先进成果介绍、现有数据集概述与比较、评估标准综述，以及对当前局限性和未来方向的分析与讨论，以期不仅指导数据集选择，也推动数据集研究。
英文摘要：
Due to the complicated procedure and costly hardware, Simultaneous Localization and Mapping (SLAM) has been heavily dependent on public datasets for drill and evaluation, leading to many impressive demos and good benchmark scores. However, with a huge contrast, SLAM is still struggling on the way towards mature deployment, which sounds a warning: some of the datasets are overexposed, causing biased usage and evaluation. This raises the problem on how to comprehensively access the existing datasets and correctly select them. Moreover, limitations do exist in current datasets, then how to build new ones and which directions to go? Nevertheless, a comprehensive survey which can tackle the above issues does not exist yet, while urgently demanded by the community. To fill the gap, this paper strives to cover a range of cohesive topics about SLAM related datasets, including general collection methodology and fundamental characteristic dimensions, SLAM related tasks taxonomy and datasets categorization, introduction of state-of-the-arts, overview and comparison of existing datasets, review of evaluation criteria, and analyses and discussions about current limitations and future directions, looking forward to not only guiding the dataset selection, but also promoting the dataset research.
Harbin Institute of Technology Shenzhen Graduate School（哈尔滨工业大学深圳研究生院）；University of Utah（犹他大学）
A new 3D localization and mapping techinque with terrain inclination assistance is proposed in this paper to allow a robot to identify its location and build a global map in an outdoor environment. The Iterative Closest Points (ICP) algorithm and terrain inclination-based localization are combined together to achieve accurate and fast localization and mapping. Inclinations of the terrains the robot navigates are used to achieve local localization during the interval between two laser scans. Using the results of the above localization as the initial condition, the ICP algorithm is then applied …
The LiDAR and inertial sensors based localization and mapping are of great significance for Unmanned Ground Vehicle related applications. In this work, we have developed an improved LiDAR-inertial localization and mapping system for unmanned ground vehicles, which is appropriate for versatile search and rescue applications. Compared with existing LiDAR-based localization and mapping systems such as LOAM, we have two major contributions: the first is the improvement of the robustness of particle swarm filter-based LiDAR SLAM, while the second is the loop closure methods developed for global opt…
This paper mainly studies the localization and mapping of range sensing robots in the confidence-rich map (CRM) and then extends it to provide a full state estimate for information-theoretic exploration. Most previous works about active simultaneous localization and mapping and exploration always assumed the known robot poses or utilized inaccurate information metrics to approximate pose uncertainty, resulting in imbalanced exploration performance and efficiency in the unknown environment. This inspires us to extend the confidence-rich mutual information (CRMI) with measurable pose uncertainty…
This paper considers the problem of simultaneous 2-D room shape reconstruction and self-localization without the requirement of any pre-established infrastructure. A mobile device equipped with co-located microphone and loudspeaker as well as internal motion sensors is used to emit acoustic pulses and collect echoes reflected by the walls. Using only first order echoes, room shape recovery and self-localization is feasible when auxiliary information is obtained using motion sensors. In particular, it is established that using echoes collected at three measurement locations and the two distance…
Shanghai Jiao Tong University（上海交通大学）；Institute of Medical Robotics（医疗机器人研究院）
Long-term scene changes present challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that can provide robust localization against those challenges. Our method starts with activation of a mapping process temporarily when global matching towards the pre-built map is unreliable. The temporary map will be merged onto the pre-built map for later localization runs once reliable matching is obtained again. We further integrate a LiDAR inertial odometry (LIO) to provide motion-compensated LiDAR scans and a reliable initial pose guess for the global matchin…
The Australian Centre of Excellence for Robotic Vision（澳大利亚机器人视觉卓越中心）；The Australian National University（澳大利亚国立大学）
Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to formulate the estimation problem, however, the real world has a significant amount of dynamics that can be exploited for a more accurate localization and versatile representation of the environment. In this paper we propose a technique to integrate the motion of dynamic objects into the SLAM estimation problem, without the necessity of estimating the pose o…
Semantic mapping is the task of providing a robot with a map of its environment beyond the open, navigable space of traditional Simultaneous Localization and Mapping (SLAM) algorithms by attaching semantics to locations. The system presented in this work reads door placards to annotate the locations of offices. Whereas prior work on this system developed hand-crafted detectors, this system leverages YOLOv5 for sign detection and EAST for text recognition. Placards are localized by computing their pose from a point cloud in a RGB-D camera frame localized by a modified ORB-SLAM. Semantic mapping…
This paper implements Simultaneous Localization and Mapping (SLAM) technique to construct a map of a given environment. A Real Time Appearance Based Mapping (RTAB-Map) approach was taken for accomplishing this task. Initially, a 2d occupancy grid and 3d octomap was created from a provided simulated environment. Next, a personal simulated environment was created for mapping as well. In this appearance based method, a process called Loop Closure is used to determine whether a robot has seen a location before or not. In this paper, it is seen that RTAB-Map is optimized for large scale and long te…
This paper proposes an ultra-wideband (UWB) aided localization and mapping system that leverages on inertial sensor and depth camera. Inspired by the fact that visual odometry (VO) system, regardless of its accuracy in the short term, still faces challenges with accumulated errors in the long run or under unfavourable environments, the UWB ranging measurements are fused to remove the visual drift and improve the robustness. A general framework is developed which consists of three parallel threads, two of which carry out the visual-inertial odometry (VIO) and UWB localization respectively. The …
Technion - Israel Institute of Technology（以色列理工学院）
We present an approach for multi-robot consistent distributed localization and semantic mapping in an unknown environment, considering scenarios with classification ambiguity, where objects' visual appearance generally varies with viewpoint. Our approach addresses such a setting by maintaining a distributed posterior hybrid belief over continuous localization and discrete classification variables. In particular, we utilize a viewpoint-dependent classifier model to leverage the coupling between semantics and geometry. Moreover, our approach yields a consistent estimation of both continuous and …
Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所）
Simultaneous Localization and Mapping (SLAM) is a fundamental task to mobile and aerial robotics. LiDAR based systems have proven to be superior compared to vision based systems due to its accuracy and robustness. In spite of its superiority, pure LiDAR based systems fail in certain degenerate cases like traveling through a tunnel. We propose Stereo Visual Inertial LiDAR (VIL) SLAM that performs better on these degenerate cases and has comparable performance on all other cases. VIL-SLAM accomplishes this by incorporating tightly-coupled stereo visual inertial odometry (VIO) with LiDAR mapping …
LiDAR is playing a more and more essential role in autonomous driving vehicles for objection detection, self localization and mapping. A single LiDAR frequently suffers from hardware failure (e.g., temporary loss of connection) due to the harsh vehicle environment (e.g., temperature, vibration, etc.), or performance degradation due to the lack of sufficient geometry features, especially for solid-state LiDARs with small field of view (FoV). To improve the system robustness and performance in self-localization and mapping, we develop a decentralized framework for simultaneous calibration, local…
Polytechnique Montréal（蒙特利尔理工学院）；University of Oxford（牛津大学）；Desay SV Automotive（德赛西威汽车电子）
Motivated by the tremendous progress we witnessed in recent years, this paper presents a survey of the scientific literature on the topic of Collaborative Simultaneous Localization and Mapping (C-SLAM), also known as multi-robot SLAM. With fleets of self-driving cars on the horizon and the rise of multi-robot systems in industrial applications, we believe that Collaborative SLAM will soon become a cornerstone of future robotic applications. In this survey, we introduce the basic concepts of C-SLAM and present a thorough literature review. We also outline the major challenges and limitations of…
Queen Mary University of London（伦敦玛丽女王大学）；Beijing University of Posts and Telecommunications（北京邮电大学）
A novel simultaneous localization and radio mapping (SLARM) framework for communication-aware connected robots in the unknown indoor environment is proposed, where the simultaneous localization and mapping (SLAM) algorithm and the global geographic map recovery (GGMR) algorithm are leveraged to simultaneously construct a geographic map and a radio map named a channel power gain map. Specifically, the geographic map contains the information of a precise layout of obstacles and passable regions, and the radio map characterizes the position-dependent maximum expected channel power gain between th…
Range-SLAM: Ultra-Wideband-Based Smoke-Resistant Real-Time Localization and Mapping
Shenzhen International Graduate School, Tsinghua University（清华大学深圳国际研究生院）；Pengcheng Lab（鹏城实验室）；RISC-V International Open Source Laboratory（RISC-V国际开源实验室）
Technion - Israel Institute of Technology（以色列理工学院）
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While existing algorithms exhibit good results, they are still sensitive to measurement noise, sensor quality, and data association and are still computationally expensive. Alternatively, some navigation and mapping missions can be achieved using only qualitative geometric information, an approach known as qualitative spatial reasoning (QSR). We contribute a novel …
National Institute of Technology, Raipur（印度国立理工学院赖布尔分校）；Motilal Nehru National Institute of Technology, Allahabad（莫蒂拉尔·尼赫鲁国立理工学院阿拉哈巴德分校）；Indian Institute of Information Technology, Allahabad（印度信息技术学院阿拉哈巴德分校）
Cloud Robotics is one of the emerging area of robotics. It has created a lot of attention due to its direct practical implications on Robotics. In Cloud Robotics, the concept of cloud computing is used to offload computational extensive jobs of the robots to the cloud. Apart from this, additional functionalities can also be offered on run to the robots on demand. Simultaneous Localization and Mapping (SLAM) is one of the computational intensive algorithm in robotics used by robots for navigation and map building in an unknown environment. Several Cloud based frameworks are proposed specificall…
Aristotle University of Thessaloniki（塞萨洛尼基亚里士多德大学）
Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is proposed, where the map is considered as a set of scattered points in the continuous space followed by a probability that states the existence of an obstacle in the subsequent point in space. A probabilistic approach with particle filters for the robot's pose estimation and an adaptive recursive algorithm for the map's probability distribution estimation is prese…
University of Southern California（南加州大学）；NASA Goddard Space Flight Center（美国国家航空航天局戈达德太空飞行中心）
Motivated by lunar exploration, we consider deploying a network of mobile robots to explore an unknown environment while acting as a cooperative positioning system. Robots measure and communicate position-related data in order to perform localization in the absence of infrastructure-based solutions (e.g. stationary beacons or GPS). We present Trilateration for Exploration and Mapping (TEAM), a novel algorithm for low-complexity localization and mapping with robotic networks. TEAM is designed to leverage the capability of commercially-available ultra-wideband (UWB) radios on board the robots to…
Singapore University of Technology and Design（新加坡科技设计大学）；Nanyang Technological University（南洋理工大学）；University of Moratuwa（莫拉图瓦大学）
Simultaneous localization and mapping (SLAM) has been richly researched in past years particularly with regard to range-based or visual-based sensors. Instead of deploying dedicated devices that use visual features, it is more pragmatic to exploit the radio features to achieve this task, due to their ubiquitous nature and the wide deployment of Wifi wireless network. In this paper, we present a novel approach for crowd-sensing simultaneous localization and radio fingerprint mapping (C-SLAM-RF) in large unknown indoor environments. The proposed system makes use of the received signal strength (…
The LIght Detection And Ranging (LiDAR) sensor has become one of the most important perceptual devices due to its important role in simultaneous localization and mapping (SLAM). Existing SLAM methods are mainly developed for mechanical LiDAR sensors, which are often adopted by large scale robots. Recently, the solid-state LiDAR is introduced and becomes popular since it provides a cost-effective and lightweight solution for small scale robots. Compared to mechanical LiDAR, solid-state LiDAR sensors have higher update frequency and angular resolution, but also have smaller field of view (FoV), …
We present a filtering-based method for semantic mapping to simultaneously detect objects and localize their 6 degree-of-freedom pose. For our method, called Contextual Temporal Mapping (or CT-Map), we represent the semantic map as a belief over object classes and poses across an observed scene. Inference for the semantic mapping problem is then modeled in the form of a Conditional Random Field (CRF). CT-Map is a CRF that considers two forms of relationship potentials to account for contextual relations between objects and temporal consistency of object poses, as well as a measurement potentia…
GNSS Research Center, Wuhan University（武汉大学卫星导航定位技术研究中心）
We present RailLoMer in this article, to achieve real-time accurate and robust odometry and mapping for rail vehicles. RailLoMer receives measurements from two LiDARs, an IMU, train odometer, and a global navigation satellite system (GNSS) receiver. As frontend, the estimated motion from IMU/odometer preintegration de-skews the denoised point clouds and produces initial guess for frame-to-frame LiDAR odometry. As backend, a sliding window based factor graph is formulated to jointly optimize multi-modal information. In addition, we leverage the plane constraints from extracted rail tracks and t…
Harbin Institute of Technology Shenzhen（哈尔滨工业大学（深圳））；Chinese University of Hong Kong（香港中文大学）
Localization on 3D data is a challenging task for unmanned vehicles, especially in long-term dynamic urban scenarios. Due to the generality and long-term stability, the pole-like objects are very suitable as landmarks for unmanned vehicle localization in time-varing scenarios. In this paper, a long-term LiDAR-only localization algorithm based on semantic cluster map is proposed. At first, the Convolutional Neural Network(CNN) is used to infer the semantics of LiDAR point clouds. Combined with the point cloud segmentation, the long-term static objects pole/trunk in the scene are extracted and r…
University of Glasgow（格拉斯哥大学）；KLE Technological University（KLE科技大学）
This paper explores a method of localization and navigation of indoor mobile robots using a node graph of landmarks that are based on fiducial markers. The use of ArUco markers and their 2D orientation with respect to the camera of the robot and the distance to the markers from the camera is used to calculate the relative position of the robot as well as the relative positions of other markers. The proposed method combines aspects of beacon-based navigation and Simultaneous Localization and Mapping based navigation. The implementation of this method uses a depth camera to obtain the distance t…
Simultaneous Localization and Mapping (SLAM) achieves the purpose of simultaneous positioning and map construction based on self-perception. The paper makes an overview in SLAM including Lidar SLAM, visual SLAM, and their fusion. For Lidar or visual SLAM, the survey illustrates the basic type and product of sensors, open source system in sort and history, deep learning embedded, the challenge and future. Additionally, visual inertial odometry is supplemented. For Lidar and visual fused SLAM, the paper highlights the multi-sensors calibration, the fusion in hardware, data, task layer. The open …
ETH Zürich（苏黎世联邦理工学院）；Massachusetts Institute of Technology（麻省理工学院）；Universidad Sergio Arboleda（塞尔吉奥·阿博莱达大学）；Pontificia Universidad Javeriana（哈维里亚那天主教大学）；University of Adelaide（阿德莱德大学）；Australian Center for Robotic Vision（澳大利亚机器人视觉中心）
Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term …
In this paper, we present a global navigation satellite system (GNSS) aided LiDAR-visual-inertial scheme, RailLoMer-V, for accurate and robust rail vehicle localization and mapping. RailLoMer-V is formulated atop a factor graph and consists of two subsystems: an odometer assisted LiDAR-inertial system (OLIS) and an odometer integrated Visual-inertial system (OVIS). Both the subsystem exploits the typical geometry structure on the railroads. The plane constraints from extracted rail tracks are used to complement the rotation and vertical errors in OLIS. Besides, the line features and vanishing …
As autonomous cars are rolled out into new environments, their ability to solve the simultaneous localization and mapping (SLAM) problem becomes critical. In order to tackle this problem, autonomous vehicles rely on sensor suites that provide them with information about their operating environment. When large scale production is taken into consideration, a trade-off between an acceptable sensor suite cost and its resulting performance characteristics arises. Furthermore, guaranteeing the system's performance requires a resilient sensor network design. This work seeks to address such trade-offs…
In this paper we present The Rosario Dataset, a collection of sensor data for autonomous mobile robotics in agricultural scenes. The dataset is motivated by the lack of realistic sensor readings gathered by a mobile robot in such environments. It consists of 6 sequences recorded in soybean fields showing real and challenging cases: highly repetitive scenes, reflection and burned images caused by direct sunlight and rough terrain among others. The dataset was conceived in order to provide a benchmark and contribute to the agricultural SLAM/odometry and sensor fusion research. It contains synchr…
Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic applications such as autonomous driving and drone delivery. Traditional LiDAR-based SLAM algorithms mainly leverage the geometric features from the scene context, while the intensity information from LiDAR is ignored. Some recent deep-learning-based SLAM algorithms consider intensity features and train the pose estimation network in an end-to-end manner. How…
Gaussian Robotics（高仙机器人）；Intel Labs China（英特尔中国研究院）；National University of Singapore（新加坡国立大学）；Harbin Institute of Technology（哈尔滨工业大学）
The environment of most real-world scenarios such as malls and supermarkets changes at all times. A pre-built map that does not account for these changes becomes out-of-date easily. Therefore, it is necessary to have an up-to-date model of the environment to facilitate long-term operation of a robot. To this end, this paper presents a general lifelong simultaneous localization and mapping (SLAM) framework. Our framework uses a multiple session map representation, and exploits an efficient map updating strategy that includes map building, pose graph refinement and sparsification. To mitigate th…
Naval Air Warfare Center, Aircraft Division (NAWCAD)（海军空战中心航空分部）；Stevens Institute of Technology（史蒂文斯理工学院）
Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and challenging lighting conditions. However, these localization methods require an existing map for comparison. Our work aims to relax the need for a map by introducing a full simultaneous localization and mapping (SLAM) system. By not requiring an existing map, setup times are minimized and the system is more robust to changing environments. This SLAM system uses a…
University of Freiburg（弗赖堡大学）；University of Technology Nuremberg（纽伦堡工业大学）
Robots operating in the open world encounter various different environments that can substantially differ from each other. This domain gap also poses a challenge for Simultaneous Localization and Mapping (SLAM) being one of the fundamental tasks for navigation. In particular, learning-based SLAM methods are known to generalize poorly to unseen environments hindering their general adoption. In this work, we introduce the novel task of continual SLAM extending the concept of lifelong SLAM from a single dynamically changing environment to sequential deployments in several drastically differing en…
University of Florida（佛罗里达大学）；University of Hawai‘i at Mānoa（夏威夷大学马诺阿分校）
We present the concept of concurrent flow-based localization and mapping (FLAM) for autonomous field robots navigating within background flows. Different from the classical simultaneous localization and mapping (SLAM) problem, where the robot interacts with discrete features, FLAM utilizes the continuous flow fields as navigation references for mobile robots and provides flow field mapping capability with in-situ flow velocity observations. This approach is of importance to underwater vehicles in mid-depth oceans or aerial vehicles in GPS-denied atmospheric circulations. This article introduce…
Nanjing University of Science and Technology（南京理工大学）
Simultaneous Localization and Mapping (SLAM) plays an important role in outdoor and indoor applications ranging from autonomous driving to indoor robotics. Outdoor SLAM has been widely used with the assistance of LiDAR or GPS. For indoor applications, the LiDAR technique does not satisfy the accuracy requirement and the GPS signals will be lost. An accurate and efficient scene sensing technique is required for indoor SLAM. As the most promising 3D sensing technique, the opportunities for indoor SLAM with fringe projection profilometry (FPP) systems are obvious, but methods to date have not ful…
We propose an accurate and robust multi-modal sensor fusion framework, MetroLoc, towards one of the most extreme scenarios, the large-scale metro vehicle localization and mapping. MetroLoc is built atop an IMU-centric state estimator that tightly couples light detection and ranging (LiDAR), visual, and inertial information with the convenience of loosely coupled methods. The proposed framework is composed of three submodules: IMU odometry, LiDAR-inertial odometry (LIO), and Visual-inertial odometry (VIO). The IMU is treated as the primary sensor, which achieves the observations from LIO and VI…
Simultaneous Localization and 3D-Semi Dense Mapping for Micro Drones Using Monocular Camera and Inertial Sensors
The Hatter Department of Marine Technologies, University of Haifa, 3498838, Israel（海洋技术系，海法大学）；Computer Science, University of Haifa, 3498838, Israel（计算机科学，海法大学）
The Hong Kong Polytechnic University（香港理工大学）；Zhejiang University of Science and Technology（浙江科技学院）
Most current LiDAR simultaneous localization and mapping (SLAM) systems build maps in point clouds, which are sparse when zoomed in, even though they seem dense to human eyes. Dense maps are essential for robotic applications, such as map-based navigation. Due to the low memory cost, mesh has become an attractive dense model for mapping in recent years. However, existing methods usually produce mesh maps by using an offline post-processing step to generate mesh maps. This two-step pipeline does not allow these methods to use the built mesh maps online and to enable localization and meshing to …
