Open-Structure: a Structural Benchmark Dataset for SLAM Algorithms

This paper introduces a new benchmark dataset, Open-Structure, for evaluating visual odometry and SLAM methods, which directly equips point and line measurements, correspondences, structural associations, and co-visibility factor graphs instead of providing raw images. Based on the proposed benchmark dataset, these 2D or 3D data can be directly input to different stages of SLAM pipelines to avoid the impact of the data preprocessing modules in ablation experiments.

1. List of sequences

office0: img | observation | initial factor graph	livingroom0: img | observation | initial factor graph
office1: img |observation | initial factor graph	livingroom1: img | observation | initial factor graph
office2: img | observation | initial factor graph	livingroom2: img | observation | initial factor graph
office3: img | observation | initial factor graph	livingroom3: img | observation | initial factor graph

nostr_textrue_far: img | observation | initial factor graph	box1: img | observation | initial factor graph
nostr_texture_near_loop: img | observation | initial factor graph	box2: img | observation | initial factor graph
str_notexture_far: img | observation | initial factor graph	corridor1: img | observation | initial factor graph
str_notexture_near: img | observation |initial factor graph	corridor2: img | observation | initial factor graph
str_texture_near: img | observation | initial factor graph	sphere1: img | observation | initial factor graph
str_texture_far: img | observation | initial factor graph	sphere2: img | observation | initial factor graph

hospital: img observation initial factor graph	japanesealley: img observation initial factor graph
carwelding: img observation initial factor graph	office: img observation initial factor graph

2.Baseline of Open-Structure

3. BibTeX

@inproceedings{liopenstructure,
  author = {Li, Yanyan and Guo, Zhao and Yang, Ze and Sun Yanbiao and Liang, Zhao and Tombari, Federico},
  title = {Open-Structure: a Structural Benchmark Dataset for SLAM Algorithms},
  year = {2023},
  booktitle = {arXiv}
 }