A Benchmark Dataset for Collaborative SLAM in Service Environments

摘要

We introduce a new multi-modal collaborative SLAM (C-SLAM) dataset for multiple service robots in various indoor service environments, called <monospace xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">C</monospace>-SLAM dataset in <monospace xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">S</monospace>ervice <monospace xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">E</monospace>nvironments (<monospace xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">CSE</monospace>). We use the NVIDIA Isaac Sim to generate data in various indoor service environments with the challenges that may occur in real-world service environments. By using the simulator, we can provide precisely time-synchronized sensor data, such as stereo RGB/depth, IMU, and ground truth (GT) poses. We configure three common indoor service environments (<italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Hospital</i>, <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Office</i>, and <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Warehouse</i>), each featuring dynamic objects performing motions suited to the environment. In addition, we drive the robots to mimic the actions of real service robots. Through these factors, we generate a realistic C-SLAM dataset for multiple service robots. We demonstrate our <monospace xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">CSE</monospace> dataset by evaluating diverse state-of-the-art single-robot SLAM and multi-robot SLAM methods. Additionally, we provide a detailed tutorial on generating C-SLAM data using the simulator.