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HRPSlam: A Benchmark for RGB-D Dynamic SLAM and Humanoid Vision

The dynamic environment is one of the challenging leftover problems for SLAM methods. Recently, researchers made a lot of efforts and achieved some breakthroughs in the dynamic SLAM research field. However, the existed RGB-D SLAM datasets are lacking the dynamic environment. In this paper, we present a novel SLAM benchmark which is dedicated to the dynamic environment SLAM solutions. Moreover, these datasets are acquired from an on-board camera on the HRP-4 humanoid robot, the humanoid dynamic motions, such as the shake from biped walking, the falling down case are included. The data of other on-board sensors, such as IMU, force sensor and joint angle encoders, are provided as well.