Test Your SLAM! The SubT-Tunnel dataset and metric for mapping
John G. Rogers,Jason M. Gregory,Jonathan Fink,Ethan Stump,John G. Rogers,Jason M. Gregory,Jonathan Fink,Ethan Stump
This paper presents an approach and introduces new open-source tools that can be used to evaluate robotic mapping algorithms. Also described is an extensive subterranean mine rescue dataset based upon the DARPA Subterranean (SubT) challenge including professionally surveyed ground truth. Finally, some commonly available approaches are evaluated using this metric.
