VSLAM-LAB: A Comprehensive Framework for Visual SLAM Methods and Datasets

Visual Simultaneous Localization and Mapping (VSLAM) research faces significant challenges due to fragmented toolchains, complex system configurations, and inconsistent evaluation methodologies. To address these issues, we present VSLAM-LAB, a unified framework designed to streamline the development, evaluation, and deployment of VSLAM systems. VSLAM-LAB simplifies the entire workflow by enabling seamless compilation and configuration of VSLAM algorithms, automated dataset downloading and preprocessing, and standardized experiment design, execution, and evaluation. All of these features are accessible through a single command-line interface. The framework supports a wide range of VSLAM systems and datasets, offering broad compatibility and extendability while promoting reproducibility through consistent evaluation metrics and analysis tools. By reducing implementation complexity and minimizing configuration overhead, VSLAM-LAB empowers researchers to focus on advancing VSLAM methodologies and accelerates progress toward scalable, real-world solutions. We demonstrate the ease with which user-relevant benchmarks can be created: here, we introduce difficulty-level-based categories, but one could envision environment-specific or condition-specific categories.

Authors

• Alejandro Fontán
• Tobias Fischer 0001
• Javier Civera 0001
• Michael Milford

Keywords

• Visualization
• Simultaneous localization and mapping
• Robot vision systems
• Standardization
• Benchmark testing
• Programming
• Reproducibility of results
• Intelligent robots
• Faces
• Software development management
• Visual Methods
• Standard Evaluation
• Experimental Evaluation
• Evaluation Methodology
• Execution Of Experiments
• Ablation
• Computer Vision
• Angular Velocity
• Motion Capture System
• Depth Distribution
• Dynamic Objects
• Camera Motion
• Scene Features
• KITTI Dataset
• Loop Closure
• Ground Truth Trajectory