Comparison of Various SLAM Systems for Mobile Robot in an Indoor Environment

This article presents a comparative analysis of a mobile robot trajectories computed by various ROS-based SLAM systems. For this reason we developed a prototype of a mobile robot with common sensors: 2D lidar, a monocular and ZED stereo cameras. Then we conducted experiments in a typical office envi...

Full description

Saved in:
Bibliographic Details
Published in2018 International Conference on Intelligent Systems (IS) pp. 400 - 407
Main Authors Filipenko, Maksim, Afanasyev, Ilya
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2018
Subjects
Cameras
indoor navigation
Laser radar
ROS
Simultaneous localization and mapping
simultaneous localization and mapping (SLAM)
Trajectory
Two dimensional displays
visual odometry
Online AccessGet full text

Cover

More Information
Summary:This article presents a comparative analysis of a mobile robot trajectories computed by various ROS-based SLAM systems. For this reason we developed a prototype of a mobile robot with common sensors: 2D lidar, a monocular and ZED stereo cameras. Then we conducted experiments in a typical office environment and collected data from all sensors, running all tested SLAM systems based on the acquired dataset. We studied the following SLAM systems: (a) 2D lidar-based: GMapping, Hector SLAM, Cartographer; (b) monocular camera-based: Large Scale Direct monocular SLAM (LSD SLAM), ORB SLAM, Direct Sparse Odometry (DSO); and (c) stereo camera-based: ZEDfu, Real-Time Appearance-Based Mapping (RTAB map), ORB SLAM, Stereo Parallel Tracking and Mapping (S-PTAM). Since all SLAM methods were tested on the same dataset we compared results for different SLAM systems with appropriate metrics, demonstrating encouraging results for lidar-based Cartographer SLAM, Monocular ORB SLAM and Stereo RTAB Map methods.
DOI:10.1109/IS.2018.8710464