An Evaluation of 2D SLAM Techniques Available in Robot Operating System

J. M. Santos, D. Portugal and R. P. Rocha

In Proc. of 11th IEEE Int. Symp. on Safety, Security, and Rescue Robotics (SSRR 2013), Linköping, Sweden, Oct. 21-26, 2013.

Abstract

In this work, a study of several laser-based 2D Simultaneous Localization and Mapping (SLAM) techniques available in Robot Operating System (ROS) is conducted. All the approaches have been evaluated and compared in 2D simulations and real world experiments using ROS. In order to draw conclusions on the performance of the tested techniques, the experimental results were collected under the same exact conditions and a generalized performance metric based on the k-nearest neighbours concept was applied. Moreover, the CPU load of each technique is examined. This work provides insight on the weaknesses and strengths of each solution. Such analysis is fundamental to decide which solution to adopt according to the properties of the intended final application.

Index Terms — SLAM; ROS; robotic mapping; localization; benchmarking.

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BibTeX

@INPROCEEDINGS(Santos_et_al_13,

AUTHOR = "Santos, J. M. and Portugal, D. and Rocha, R. P.",

TITLE = "An Evaluation of 2D SLAM Techniques Available in Robot Operating System",

BOOKTITLE = "Proc. of 11th IEEE Int. Symp. on Safety, Security, and Rescue Robotics (SSRR 2013)",

ADDRESS = "Linköping, Sweden",

YEAR = "2013",

MONTH = "Oct."

)

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Last update: 25/10/2013