The article introduces a new benchmark dataset called Open-Structure for evaluating visual odometry and Simultaneous Localization and Mapping (SLAM) methods. Rather than providing raw images, this dataset directly equips point and line measurements, correspondences, structural associations, and co-visibility factor graphs. The dataset can be used in real-world and simulated scenarios and is designed to evaluate various modules involved in camera pose tracking, parametrization, and optimization modules. The article also discusses the strengths and weaknesses of these modules in different scenarios.
Publication date: 18 Oct 2023
Project Page: https://github.com/yanyan-li/Open-Structure
Paper: https://arxiv.org/pdf/2310.10931
