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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
Author:Stefan HenselGND, Marin B. Marinov, Christoph Kehret, Maria Stefanova-Pavlova
Editor:Murat Yilmaz, Jörg Niemann, Paul Clarke, Richard Messnarz
Publisher:Springer
Place of publication:Cham
Year of Publication:2020
Pagenumber:12
ISBN:978-3-030-56440-7 (Print)
ISBN:978-3-030-56441-4 (Online)
Language:English
Parent Title (English):Proceedings of EuroSPI 2020: Systems, Software and Services Process Improvement
ISSN:1865-0929 (Print)
ISSN:1865-0937 (Online)
First Page:433
Last Page:444
Document Type:Conference Proceeding
Institutes:Bibliografie
Open Access:Zugriffsbeschränkt
Release Date:2020/12/17
Licence (German):License LogoEs gilt das UrhG
Note:
Proceedings of the 27th European Conference (EuroSPI 2020), Düsseldorf, Germany, September 9–11 2020
DOI:https://doi.org/10.1007/978-3-030-56441-4_32