Benchmarking SLAM reconstructions in absence of a complete ground truth
department or school: Applied Science, Faculty of
department or school: Engineering, School of (Okanagan)
data provider: DSpace
degree campus: UBCO
creator: Neubauer, Kai
issued: 2022-02-16T17:07:15Z
issued: 2022
related degree: Master of Applied Science - MASc
degree grantor: University of British Columbia
description: This thesis focused on developing a framework for evaluating the 3D reconstruction created through simultaneous localization and mapping (SLAM). Common benchmarking techniques rely on having a fully realized ground truth, either as a trajectory or 3D structural data. The proposed system evaluates relations between known sets of landmarks and compares those to relations between the corresponding features within the reconstruction. This requires far less data for evaluation and is much more applicable outside of controlled environments. First, CAD models of objects that are known to be within the environment are processed. The models are sampled into high resolution point clouds that are used in further processing. Features are extracted from the point clouds and compared to each other. For the experiments in this thesis, the features of interest were the centroids of each object with the comparison being the Euclidean distance within each other. The point cloud representation of these objects are then separated from the reconstruction of the environment using a combination of a passthrough filter and Euclidean cluster extraction. The same procedure for feature extraction and comparison used for the ground truth models is applied to these objects. The metric used to evaluate the success of the SLAM algorithm is the error between the ground truth comparison of these objects and the relations between their reconstructed counterparts. Experiments were conducted using a ground vehicle robot in both simulation and a laboratory environment. The experiments were used to evaluate the performance of different SLAM algorithms, and to compare the evaluation against evaluation metrics used in literature. The proposed system is designed to be extendable for use with any point cloud feature. It aims to help evaluate the suitability of algorithms within scenarios not properly covered within available data sets.
aggregated CHO: https://circle.library.ubc.ca/rest/handle/2429/80842
note: Benchmarking SLAMReconstructions in Absence of aComplete Ground TruthbyKai NeubauerB.A.Sc. University of British Columbia, 2019A THESIS SUBMITTED IN PARTIAL FULFILLMENT OFTHE REQUIREMENTS FOR THE DEGREE OFMASTER OF APPLIED SCIENCEinTHE COLLEGE OF GRADUATE STUDIES(Mechanical Engineering)THE UNIVERSITY OF BRITISH COLUMBIA(Okanagan)February 2022© Kai Neubauer, 2022The following individuals certify that they have read, and recommend to the Collegeof Graduate Studies for acceptance, a thesis entitled:Benchmarking SLAM Reconstructions in Absence of a Complete Ground Truthsubmitted by Kai Neubauer in partial fulfilment of the requirements of the degree ofMaster of Applied ScienceHomayoun Najjaran, School of EngineeringSupervisorYang Cao, School of EngineeringSupervisory Committee MemberDean Richert, School of EngineeringSupervisory Committee MemberSumi Siddiqua, School of EngineeringUniversity ExamineriiAbstractThis thesis focused on developing a framework for evaluating the 3D reconstructioncreated through simultaneous localization and mapping (SLAM). Common benchmarkingtechniques rely on having a fully realized ground truth, either as a trajectory or 3D struc-tural data. The proposed system evaluates relations between known sets of landmarksand compares those to relations between the corresponding features within the recon-struction. This requires far less data for evaluation and is much more applicable outsideof controlled environments.First, CAD models of objects that are known to be within the environment are pro-cessed. The models are sampled into high resolution point clouds that are used in furtherprocessing. Features are extracted from the point clouds and compared to each other. Forthe experiments in this thesis, the features of interest were the centroids of each objectwith the comparison being the Euclidean distance within each other.The point cloud representation of these objects are then separated from the recon-struction of the environment using a combinatio…
has type: Thesis/Dissertation
date issued: 2022-05
is shown at: 10.14288/1.0406604
language: eng
degree discipline: Mechanical Engineering
provider: Vancouver : University of British Columbia Library
publisher: University of British Columbia
rights: Attribution-NonCommercial-NoDerivatives 4.0 International
rights URI: http://creativecommons.org/licenses/by-nc-nd/4.0/
scholar level: Graduate
contributor: Najjaran, Homayoun
type: Text
identifier URI: http://hdl.handle.net/2429/80842