SLAM: state of the art analysis

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Tested systems:

Bundler [1]

PTAM (Parallel Tracking And Map) [2]

DWO (Double Window Optimization) [3]




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: