@inproceedings{HenselMarinovKehretetal.2020,
  author    = {Stefan Hensel and Marin B. Marinov and Christoph Kehret and Maria Stefanova-Pavlova},
  title     = {Experimental Set-up for Evaluation of Algorithms for Simultaneous Localization and Mapping},
  series = {Proceedings of EuroSPI 2020: Systems, Software and Services Process Improvement},
  editor    = {Murat Yilmaz and J{\"o}rg Niemann and Paul Clarke and Richard Messnarz},
  publisher = {Springer},
  address   = {Cham},
  isbn      = {978-3-030-56440-7 (Print)},
  issn      = {1865-0929 (Print)},
  doi       = {10.1007/978-3-030-56441-4\_32},
  pages     = {433 -- 444},
  year      = {2020},
  abstract  = {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.},
  language  = {en}
}