SLAM: state of the art analysis

Tested systems:

Bundler [1]

PTAM (Parallel Tracking And Map) [2]

DWO (Double Window Optimization) [3]

Datasets:

RAWSEEDS [4]

KITTI [5]

Computer Vision Group [6]

The New College Dataset [7]

Open issues/questions

These are the main open questions.

• initialization with EKF (TODO see [8])
• BA advantages:
  • accuracy
  • density
• limits:
  • computational cost;
  • resouces

To see/check

Some useful tools to see or to check at least:

• g2o [9]
• MRPT [10]