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- W2887229988 abstract "In this work, we provide an insight study of various 2D Simultaneous Localization and Mapping (SLAM) solutions available in Robotic Operating System (ROS) in the context of autonomous exploration of unknown indoor environment. We are interested in verifying which SLAM packages works out-of-the box for such system. Beside of validating the resulting SLAM’s maps quality, it is necessary to validate also the online mapping reliability and stability of the SLAMs as well as their robustness in environment variation. To be able to conclude the performance of each tested SLAM, a series of tests in both simulation and real world experiment has been conducted on different kinds of terrain. Based on our metrics, we show that Karto SLAM produces the best result when doing autonomous online mapping of unknown indoor environments. We also show that Cartographer can achieve better results than Karto SLAM but this requires offline post-processing to tune the parameters specifically for a given terrain." @default.
- W2887229988 created "2018-08-22" @default.
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- W2887229988 date "2018-08-04" @default.
- W2887229988 modified "2023-09-24" @default.
- W2887229988 title "Evaluation of Out-of-the-Box ROS 2D SLAMs for Autonomous Exploration of Unknown Indoor Environments" @default.
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