SLAM technology has recently seen many successes and attracted the attention of high-technological companies. However, how to unify the interface of existing or emerging algorithms, and effectively perform benchmark about the speed, robustness and portability are still problems. In this paper, we propose a novel SLAM platform named GSLAM, which not only provides evaluation functionality, but also supplies useful toolkit for researchers to quickly develop their own SLAM systems. The core contribution of GSLAM is an universal, cross-platform and full open-source SLAM interface for both research and commercial usage, which is aimed to handle interactions with input dataset, SLAM implementation, visualization and applications in an unified framework. Through this platform, users can implement their own functions for better performance with plugin form and further boost the application to practical usage of the SLAM.
翻译:最近,SLAM技术取得了许多成功,并吸引了高技术公司的关注,然而,如何统一现有或新兴算法的界面,并有效地实施速度、稳健性和可移动性基准,仍然是个问题。在本文件中,我们提议建立一个名为GSLAM的新的SLAM平台,它不仅提供评价功能,而且还为研究人员提供有用的工具包,以便他们迅速开发自己的SLAM系统。GSLAM的核心贡献是一个普遍的、跨平台的和完整的开放源码的SLAM界面,供研究和商业使用,其目的是处理与输入数据集、SLAM实施、可视化和统一框架内的应用的相互作用。用户可以通过这个平台执行自己的功能,用插件更好地表现,进一步推动对SLAM的实际使用。