TY - CHAP U1 - Konferenzveröffentlichung A1 - Hensel, Stefan A1 - Marinov, Marin B. A1 - Kehret, Christoph A1 - Stefanova-Pavlova, Maria ED - Yilmaz, Murat ED - Niemann, Jörg ED - Clarke, Paul ED - Messnarz, Richard T1 - Experimental Set-up for Evaluation of Algorithms for Simultaneous Localization and Mapping T2 - Proceedings of EuroSPI 2020: Systems, Software and Services Process Improvement N2 - 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. Y1 - 2020 SN - 1865-0929 (Print) SS - 1865-0929 (Print) SN - 1865-0937 (Online) SS - 1865-0937 (Online) SN - 978-3-030-56440-7 (Print) SB - 978-3-030-56440-7 (Print) SN - 978-3-030-56441-4 (Online) SB - 978-3-030-56441-4 (Online) U6 - https://doi.org/10.1007/978-3-030-56441-4_32 DO - https://doi.org/10.1007/978-3-030-56441-4_32 SP - 433 EP - 444 PB - Springer CY - Cham ER -