ROVER: A Multi-Season Dataset for Visual SLAM

Robust Simultaneous Localization and Mapping (SLAM) is a crucial enabler for autonomous navigation in natural, unstructured environments such as parks and gardens. However, these environments present unique challenges for SLAM due to frequent seasonal changes, varying light conditions, and dense vegetation. These factors often degrade the performance of visual SLAM algorithms originally developed for structured urban environments. To address this gap, we present ROVER, a comprehensive benchmark dataset tailored for evaluating visual SLAM algorithms under diverse environmental conditions and spatial configurations. We captured the dataset with a robotic platform equipped with monocular, stereo, and RGB-D cameras, as well as inertial sensors. It covers 39 recordings across five outdoor locations, collected through all seasons and various lighting scenarios, i.e., day, dusk, and night with and without external lighting. With this novel dataset, we evaluate several traditional and deep learning-based SLAM methods and study their performance in diverse challenging conditions. The results demonstrate that while stereo-inertial and RGB-D configurations generally perform better under favorable lighting and moderate vegetation, most SLAM systems perform poorly in low-light and high-vegetation scenarios, particularly during summer and autumn. Our analysis highlights the need for improved adaptability in visual SLAM algorithms for outdoor applications, as current systems struggle with dynamic environmental factors affecting scale, feature extraction, and trajectory consistency. This dataset provides a solid foundation for advancing visual SLAM research in real-world, natural environments, fostering the development of more resilient SLAM systems for long-term outdoor localization and mapping. The dataset and the code of the benchmark are available under https://iis-esslingen.github.io/rover.

Visual-Inertial SLAM for Agricultural Robotics: Benchmarking the Benefits and Computational Costs of Loop Closing

Simultaneous Localization and Mapping (SLAM) is essential for mobile robotics, enabling autonomous navigation in dynamic, unstructured outdoor environments without relying on external positioning systems. In agricultural applications, where environmental conditions can be particularly challenging due to variable lighting or weather conditions, Visual-Inertial SLAM has emerged as a potential solution. This paper benchmarks several open-source Visual-Inertial SLAM systems, including ORB-SLAM3, VINS-Fusion, OpenVINS, Kimera, and SVO Pro, to evaluate their performance in agricultural settings. We focus on the impact of loop closing on localization accuracy and computational demands, providing a comprehensive analysis of these systems' effectiveness in real-world environments and especially their application to embedded systems in agricultural robotics. Our contributions further include an assessment of varying frame rates on localization accuracy and computational load. The findings highlight the importance of loop closing in improving localization accuracy while managing computational resources efficiently, offering valuable insights for optimizing Visual-Inertial SLAM systems for practical outdoor applications in mobile robotics.