영문내용
(English Abstract) |
In this study, various SLAM algorithms are tested on mobile robot for indoor positioning and mapping problems. With a steady growth of the market for indoor location-based application there has been an increase in the widespread demand for reshaping and updating indoor maps. However, the accuracy of these systems is heavily dependent on available hardware. Limited studies are available that evaluate algorithms and provide guidance for budget specification and appropriate hardware selection. Here we present a low-cost mobile robot prototype to test diverse SLAM algorithms in an indoor environment. We have tested 2d LIDAR and monocular Camera-based SLAM methods on the same test data set, proving that Lidar-based hector and googles cartographer SLAM, and monocular camera-based ORB2 SLAM are the state of the art and best fitted for indoor localization and mapping.
|
