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Evaluation of Visual SLAM Methods in USAR Applications Using ROS/Gazebo Simulation

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Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings"

Part of the book series: Smart Innovation, Systems and Technologies ((SIST,volume 187))

Abstract

The problem of determining the position of a robot and at the same time building the map of the environment is referred to as SLAM. A SLAM system generally outputs the estimated trajectory (a sequence of poses) and the map. In practice, it is hard to obtain ground-truth for the map; hence, only trajectory ground-truth is considered. There are various works that provide datasets to evaluate SLAM algorithms in different scenarios including sensor configurations, robots, and environments. Dataset collection in a real-world environment is a complicated task, which requires an elaborate sensor and robot configuration. Different SLAM systems demand various sensors resulting in the problem of finding an appropriate dataset for their evaluation. Thus, in this paper, a solution that is based on ROS/Gazebo simulations is proposed. Two indoor environments with flat and uneven terrain to evaluate laser range and visual SLAM systems are created. Changing the sensor configuration and the environment does not require an elaborate setup. The results of the evaluation for two popular SLAM methods—ORB-SLAM2 and RTAB-Map—are presented.

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Acknowledgements

This research was funded by the Russian Foundation for Basic Research (RFBR), project ID 18-58-45017. This work was partially supported by the research grant of Kazan Federal University.

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Authors and Affiliations

  1. Laboratory of Intelligent Robotic Systems (LIRS), Intelligent Robotics Department, Higher Institute for Information Technology and Intelligent Systems, Kazan Federal University, Kazan, Russian Federation

    Ramil Safin & Roman Lavrenov

  2. Laboratorio de Robotica, Institute of Engineering and Technology, Universidad Autonoma de Ciudad Juarez, Ciudad Juarez, 32310, Mexico

    Edgar Alonso Martínez-García

Authors
  1. Ramil Safin
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  2. Roman Lavrenov
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  3. Edgar Alonso Martínez-García
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Corresponding author

Correspondence to Roman Lavrenov .

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Editors and Affiliations

  1. St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Saint Petersburg State University of Aerospace Instrumentation, St. Petersburg, Russia

    Vladislav Shishlakov

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Safin, R., Lavrenov, R., Martínez-García, E.A. (2021). Evaluation of Visual SLAM Methods in USAR Applications Using ROS/Gazebo Simulation. In: Ronzhin, A., Shishlakov, V. (eds) Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings". Smart Innovation, Systems and Technologies, vol 187. Springer, Singapore. https://doi.org/10.1007/978-981-15-5580-0_30

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