I have studied the matlab code of Javier Civera's 1-point RANSAC for EKF MonoSLAM, but I find I am lack of some datasets to evaluate the visual slam system, because I don't have the powerful robot to collect good data sets. does any one know some image dataset to test the visual SLAM methods ? or else, tell me some good simulator to implement the visual SLAM methods and finally evaluate the methods
Originally posted by peterli on ROS Answers with karma: 1 on 2013-01-20
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There is a dataset designed to "establish a novel benchmark for the evaluation of visual odometry and visual SLAM systems" by Jürgen Sturm at TUM:
http://vision.in.tum.de/data/datasets/rgbd-dataset
Hope that helps...
Originally posted by michikarg with karma: 2108 on 2013-01-20
This answer was ACCEPTED on the original site
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Comment by michikarg on 2013-01-20:
Here's also the paper about that dataset: https://www.google.de/url?sa=t&rct=j&q=&esrc=s&source=web&cd=1&cad=rja&ved=0CDoQFjAA&url=http%3A%2F%2Fvision.in.tum.de%2F_media%2Fspezial%2Fbib%2Fendres12icra.pdf&ei=VAf9UK6QIcSAtAaS_4G4Bg&usg=AFQjCNEJgauHEKqNQbiPCgkcVbNY3TisjQ&sig2=iamLPUhgTUA8yloNx8Oeag&bv