Ground-Challenge: A Multi-sensor SLAM Dataset Focusing on Corner Cases for Ground Robots

摘要

To support the research on corner cases of visual SLAM systems, this paper presents Ground-Challenge: a challenging dataset comprising 36 trajectories with diverse corner cases such as aggressive motion, severe occlusion, changing illumination, motion blur, wheel suspension, etc. The dataset was collected by a ground robot with multiple sensors including an RGB-D camera, an inertial measurement unit (IMU), a wheel odometer and a 3D LiDAR. All of these sensors were well-calibrated and synchronized, and their data were recorded simultaneously. To evaluate the performance of cutting-edge SLAM systems, we tested them on our dataset and demonstrated that these systems are prone to drift and fail on specific sequences. We release the dataset at https://github.com/sjtuyinjie/Ground-Challenge to benefit the research community.