The following data was collected during NIST Response Robot Evaluation Exercise 2008 at Disaster City, Texas. The related map was generated using 3D Plane SLAM.
Scenario Data
Photos from the Site
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| Front view of the crash site. | Close up. | The robot collecting data. |
Raw Data
3D Plane SLAM Results
Below some videos are shown with animated results of the 3D mapping with 3D Plane SLAM. Please click the images to play the movies.
Plane-SLAM Maps in X3D format
The results of the Plane-SLAM are also available as X3D data. Use "tar zxvf file-name" to uncompress and untar into folders, and then load main.x3d in the output folder using an X3D viewer.
- After pairwise plane-matching, but before relaxation:
- Map as planar-patches (0.6 MB) includes the loop-closing edges; This is easier to visualize compared to the point-cloud maps.
- Map as point-clouds (15.5 MB) ; In both cases the registration was done using plane-matching. Point-clouds subsampled by 3 for easier visualization.
- After pairwise plane-matching followed by loop-closing and relaxation:
- Map as planar-patches (0.6 MB). This is the easiest to visualize.
- Map as point-clouds (15.5 MB); Point-clouds subsampled by 3 for easier visualization.
Comparison to ICP
3D-Plane-SLAM outperforms Iterative Closest Point (ICP) in this scenario in terms of computation speed and robustness. Due to the lack of meaningful odometry, ICP fails with several pairwise registrations.
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video of the broken 3D map generated by ICP (full version: 413 MB) (downscaled version: 20 MB)
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