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Performance evaluation of ROS-based SLAM algorithms for handheld indoor mapping and tracking systems

Johnson, P, Nguyen, QH and Latham, D (2022) Performance evaluation of ROS-based SLAM algorithms for handheld indoor mapping and tracking systems. IEEE Sensors Journal, 23 (1). pp. 706-714. ISSN 1530-437X

Performance_evaluation_SLAM_algorithms_indoor_mapping_final submitted version.pdf - Accepted Version

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Simultaneous Localization and Mapping is an important field of work not only in robotics, but also in mobile platforms. This research work provides insight into how SLAM techniques are deployed in an indoor environment to aid first responders with their duties. Due to the hazardous nature of the environment and the need for sensitivity due to potential involvement of human subjects, autonomous robots cannot be used. So, the first responders must carry the scanning equipment and perform SLAM at the same time. As a result, unlike standard robot platforms, there will be no reliable odometry source, and SLAM will have to deal with the user’s unpredictable movement. In this work, we compare and examine ROS-based SLAM approaches without using any odometry for their application in the above-mentioned circumstances. Gmapping, HectorSLAM, and Cartographer have been chosen as the candidates for this evaluation. We evaluated these approaches in two different environments: a lab office, and a long corridor. The research results show that Cartographer outperforms the other two techniques in our test setup in terms of map quality and trajectory tracking. The Cartographer’s mapping error ranged from 0.017m to 0.3548m.

Item Type: Article
Additional Information: © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Subjects: T Technology > T Technology (General)
T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Engineering
Publisher: IEEE
SWORD Depositor: A Symplectic
Date Deposited: 01 Dec 2022 11:14
Last Modified: 06 Jan 2023 12:30
DOI or ID number: 10.1109/JSEN.2022.3224224
URI: https://researchonline.ljmu.ac.uk/id/eprint/18245
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