Abstract
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM), for which a number of algorithms from different classes are available as ROS packages ready to be used on any compatible robot. Considering that there is often a need to evaluate and choose an appropriate solution in any robotics application, this work presents an experimental evaluation of five SLAM algorithms usable on RGB-D sensors, namely, Gmapping, Hector SLAM, ORB SLAM, ORB SLAM 2 and RTAB-Map. The algorithms are assessed on data depicting realistic operation scenarios according to established criteria enumerated to emphasize practical aspects of the selected systems. The experiences reported on this work should provide insight for roboticists seeking a SLAM solution for indoor applications.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
