Experimental Set-up for Evaluation of Algorithms for Simultaneous Localization and Mapping

被引：1
|
作者：
Hensel, Stefan [1 ]
Marinov, Marin B. [2 ]
Kehret, Christoph [1 ]
Stefanova-Pavlova, Maria [3 ]
机构：
[1] Univ Appl Sci Offenburg, Dept Elect Engn, Badstr 24, D-77652 Offenburg, Germany
[2] Tech Univ Sofia, Dept Elect, 8 Kliment Ohridski Blvd, Sofia 1756, Bulgaria
[3] Ctr Innovat & Technol Transfer Global, Jahroslav Veshin Str B1-32-B, Sofia 1408, Bulgaria
来源：
SYSTEMS, SOFTWARE AND SERVICES PROCESS IMPROVEMENT (EUROSPI 2020) | 2020年 / 1251卷
关键词：
LiDAR; LOAM; Mobile robotics; Mapping; Navigation; ROS; SLAM;
D O I：
10.1007/978-3-030-56441-4_32
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The precise positioning of mobile systems is a prerequisite for any autonomous behavior, in an industrial environment as well as for field robotics. The paper describes the set up for an experimental platform and its use for the evaluation of simultaneous localization and mapping (SLAM) algorithms. Two approaches are compared. First, a local method based on point cloud matching and integration of inertial measurement units is evaluated. Subsequent matching makes it possible to create a three-dimensional point cloud that can be used as a map in subsequent runs. The second approach is a full SLAM algorithm, based on graph relaxation models, incorporating the full sensor suite of odometry, inertial sensors, and 3D laser scan data.
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页码：433 / 444
页数：12
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