Experimental Set-up for Evaluation of Algorithms for Simultaneous Localization and Mapping
- 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 ofThe 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.…
| Dokumentart: | Konferenzveröffentlichung |
|---|---|
| Art der Konferenzveröffentlichung: | Konferenzartikel |
| Zitierlink: | https://opus.hs-offenburg.de/4371 | Bibliografische Angaben |
| Titel (Englisch): | Experimental Set-up for Evaluation of Algorithms for Simultaneous Localization and Mapping |
| Konferenzangaben: | 27th European Conference (EuroSPI 2020), September 9-11 2020, Düsseldorf, Germany |
| Verfasserangaben: | Stefan HenselStaff MemberORCiDGND, Marin B. MarinovORCiD, Christoph Kehret, Maria Stefanova-Pavlova |
| Erscheinungsjahr: | 2020 |
| Verlagsort: | Cham |
| Verlag: | Springer |
| Erste Seite: | 433 |
| Letzte Seite: | 444 |
| Titel des übergeordneten Werkes (Englisch): | Proceedings of EuroSPI 2020: Systems, Software and Services Process Improvement |
| Herausgeber*in: | Murat Yilmaz, Jörg Niemann, Paul Clarke, Richard Messnarz |
| ISBN: | 978-3-030-56440-7 (Print) |
| ISBN: | 978-3-030-56441-4 (Online) |
| ISSN: | 1865-0929 (Print) |
| ISSN: | 1865-0937 (Online) |
| DOI: | https://doi.org/10.1007/978-3-030-56441-4_32 |
| Sprache: | Englisch | Inhaltliche Informationen |
| Fakultäten / Einrichtungen: | Fakultät Elektrotechnik, Medizintechnik und Informatik (EMI) (ab 04/2019) |
| Sammlungen der Hochschule Offenburg: | Bibliografie | Formale Angaben |
| Open-Access-Status: | Closed Access |
| Lizenz (Deutsch): |  Urheberrechtlich geschützt |