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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.show moreshow less

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Metadaten
Document Type:Conference Proceeding
Conference Type:Konferenzartikel
Zitierlink: https://opus.hs-offenburg.de/4371
Bibliografische Angaben
Title (English):Experimental Set-up for Evaluation of Algorithms for Simultaneous Localization and Mapping
Conference:27th European Conference (EuroSPI 2020), September 9-11 2020, Düsseldorf, Germany
Author:Stefan HenselStaff MemberORCiDGND, Marin B. Marinov, Christoph Kehret, Maria Stefanova-Pavlova
Year of Publication:2020
Place of publication:Cham
Publisher:Springer
First Page:433
Last Page:444
Parent Title (English):Proceedings of EuroSPI 2020: Systems, Software and Services Process Improvement
Editor: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
Language:English
Inhaltliche Informationen
Institutes:Fakultät Elektrotechnik, Medizintechnik und Informatik (EMI) (ab 04/2019)
Institutes:Bibliografie
Formale Angaben
Open Access: Closed Access 
Licence (German):License LogoUrheberrechtlich geschützt