[robotics-worldwide] Call for Participation: SLAM Evaluation Workshop at RSS 2011

Michael Kaess kaess at MIT.EDU
Wed Jun 22 09:50:58 PDT 2011


SLAM Evaluation Workshop at RSS 2011

When: July 1st, 2011
Where: at USC in Los Angeles, CA
Website: http://slameval.willowgarage.com/workshop

Abstract
--------------------------------------
Due to its high relevance, Simultaneous Localization and Mapping (SLAM) 
is one of the most deeply investigated fields in mobile robotics. Over 
the last two decades hundreds of publications addressing the topic have 
been produced, and effective approaches are nowadays available. However, 
having such a large choice can become an issue both for the SLAM user 
that does not know what to select and for the SLAM researcher that has 
to compare their method with hundreds of others. These problems could be 
solved by an automated and open SLAM evaluation system. However, the 
construction of such a system poses different conceptual and practical 
problems, such as: What are the properties of interest? How to measure 
them? And how to compare heterogeneous systems? In this workshop, we 
will discuss how to answer these questions and we will present a system 
to compare a well defined sub-problem in the domain of graph-based SLAM 
systems, the graph-optimization.

Please note that submissions of SLAM executables are still accepted 
until June 24th (see the website for details).

Tentative Schedule
--------------------------------------
Session 1: SLAM Evaluation for Back-ends
9:00 - 9:05  Welcome Remarks, Organizers
9:05 - 9:20  Introduction to graph-based SLAM, Organizers
9:20 - 10:50  SLAM Evaluation, Rainer Kuemmerle, University of Freiburg, 
Germany
9:50 - 10:15  Evaluation System, Ranking and Awards, Organizers
10:15 - 10:45  Coffee Break

Session 2: SLAM and Real Applications
10:45 - 11:10  Evaluation of RGB-D SLAM Systems, Juergen Sturm, 
Technical University Munich
11:10 - 11:35  Graph-Based SLAM in Industrial Environments, Patrick 
Pfaff, KUKA Laboratories GmbH, Germany
11:35 - 12:00  SLAM in Real Applications, Regis Vincent, SRI 
International, USA
12:00 - 13:30  Lunch Break

Session 3: SLAM Evaluation beyond Back-ends
13:30 - 14:00  Evaluating Back-ends: Metrics, Ed Olson, University of 
Michigan, USA
14:00 - 14:30  Evaluating Data Association, Jose Neira, University of 
Zaragoza, Spain
14:30 - 15:00  Local Accuracy in Visual SLAM, Kurt Konolige / Hauke 
Strasdat, Willow Garage, USA / Imperial College London, UK
15:00 - 15:30  Coffee Break

Session 4: SLAM Outlook
15:30 - 16:00  Long-term View of the SLAM Problem, John Leonard, MIT, USA
16:00 - 16:30  Panel Discussion

Organizers
--------------------------------------
- Michael Kaess, MIT
- Giorgio Grisetti, Sapienza University of Rome / University of Freiburg
- Kai Ni, Microsoft / Georgia Institute of Technology

Steering Committee
--------------------------------------
- Wolfram Burgard, University of Freiburg
- Frank Dellaert, Georgia Institute of Technology
- Kurt Konolige, Willow Garage
- John Leonard, MIT
- Ed Olson, University of Michigan
- Cyrill Stachniss, University of Freiburg



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