  In this work, we present a comparative analysis of the trajectories estimated
from various Simultaneous Localization and Mapping (SLAM) systems in a
simulation environment for vineyards. Vineyard environment is challenging for
SLAM methods, due to visual appearance changes over time, uneven terrain, and
repeated visual patterns. For this reason, we created a simulation environment
specifically for vineyards to help studying SLAM systems in such a challenging
environment. We evaluated the following SLAM systems: LIO-SAM, StaticMapping,
ORB-SLAM2, and RTAB-MAP in four different scenarios. The mobile robot used in
this study equipped with 2D and 3D lidars, IMU, and RGB-D camera (Kinect v2).
The results show good and encouraging performance of RTAB-MAP in such an
environment.
