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

• Published in: IEEE sensors journal Vol. 23; no. 1; p. 1
• Main Authors: Nguyen, Quang Huy, Johnson, Princy, Latham, David
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.01.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Cartographer; Cartography; Emergency response; Gmapping; Hazardous areas; HectorSLAM; Indoor environments; Indoor mapping; LiDAR; Performance evaluation; Platforms; Robotics; Robots; ROS; Simultaneous localization and mapping; SLAM; Tracking systems

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 env...