Comparison of Varied 2D Mapping Approaches by Using Practice-Oriented Evaluation Criteria

A key aspect of the precision of a mobile robot’s localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps – with varying degrees of effort, hardware requirements and quality of the resulting maps. To create a better understanding of the applicability of these different approaches to specific applications, this paper evaluates and compares three different mapping approaches based on simultaneous localization and mapping, terrestrial laser scanning as well as publicly accessible building contours.

Schlagworte

localization

map evaluation

mapping

mobile robots

Projekt(e)

Kombinierter Personen- und Warentransport in automatisierten Shuttles

Kombinierter Personen- und Warentransport in automatisierten Shuttles. Teilvorhaben: Entwicklung von Transportrobotern zur Integration in einen automatisierten Shuttle-Betrieb mit Wirkungsabschätzung (TaBuLa-LOG)

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Comparison of Varied 2D Mapping Approaches by Using Practice-Oriented Evaluation Criteria