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Performance analysis in the field of camera-based simultaneous localisation and mapping (Visual SLAM, VSLAM) is still an unsolved problem. For VSLAM systems, there is a lack of generally accepted performance measures, test frameworks, and benchmark problems. Most researchers test by visually inspecting their systems on recorded image sequences, or measuring accuracy on simulated data of simplified point-cloud-like environments. Both approaches have their disadvantages. Recorded sequences lackdoi:10.5244/c.23.69 dblp:conf/bmvc/PietzschF09 fatcat:gfpeze4kfze5bo2pidfih4sis4