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An evaluation of 2D SLAM techniques available in Robot Operating System

Machado Santos, Joao ; Portugal, David ; Rocha, Rui P.

2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2013, p.1-6

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Título:
An evaluation of 2D SLAM techniques available in Robot Operating System
Autor: Machado Santos, Joao ; Portugal, David ; Rocha, Rui P.
Assuntos: Electronic publishing ; Information services ; Internet ; Simultaneous localization and mapping
É parte de: 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2013, p.1-6
Descrição: In this work, a study of several laser-based 2D Simultaneous Localization and Mapping (SLAM) techniques available in Robot Operating System (ROS) is conducted. All the approaches have been evaluated and compared in 2D simulations and real world experiments. In order to draw conclusions on the performance of the tested techniques, the experimental results were collected under the same conditions and a generalized performance metric based on the k-nearest neighbors concept was applied. Moreover, the CPU load of each technique is examined. This work provides insight on the weaknesses and strengths of each solution. Such analysis is fundamental to decide which solution to adopt according to the properties of the intended final application.
Editor: IEEE
Idioma: Inglês

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