Comparison and analysis of laser simultaneous localization and mapping algorithms in indoor glass scenes

Zuhua Fang; Runze Jiang; Chang Liu; Kang An

doi:10.1117/12.3010833

1 December 2023 Comparison and analysis of laser simultaneous localization and mapping algorithms in indoor glass scenes

Zuhua Fang, Runze Jiang, Chang Liu, Kang An

Author Affiliations +

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 1294035 (2023) https://doi.org/10.1117/12.3010833
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

The measurement data obtained by lidar in front of the transparent glass will have large errors with the actual environment. it is necessary to solve the problem of environmental perception of mobile robots in transparent glass indoors. This paper introduces four laser SLAM algorithms, Gmapping-SLAM, Hector SLAM, Karto-SLAM and Cartographer SLAM, and makes experimental comparison and analysis through simulation platform. The most suitable algorithm for indoor glass scenes is selected.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Zuhua Fang, Runze Jiang, Chang Liu, and Kang An "Comparison and analysis of laser simultaneous localization and mapping algorithms in indoor glass scenes", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 1294035 (1 December 2023); https://doi.org/10.1117/12.3010833

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