Version 1
: Received: 1 July 2019 / Approved: 2 July 2019 / Online: 2 July 2019 (08:43:16 CEST)
How to cite:
Silva, B.M.F.D.; Xavier, R.S.; Gonçalves, L.M.G. Mapping and Navigation for Indoor Robots under ROS: An Experimental Analysis. Preprints2019, 2019070035. https://doi.org/10.20944/preprints201907.0035.v1
Silva, B.M.F.D.; Xavier, R.S.; Gonçalves, L.M.G. Mapping and Navigation for Indoor Robots under ROS: An Experimental Analysis. Preprints 2019, 2019070035. https://doi.org/10.20944/preprints201907.0035.v1
Silva, B.M.F.D.; Xavier, R.S.; Gonçalves, L.M.G. Mapping and Navigation for Indoor Robots under ROS: An Experimental Analysis. Preprints2019, 2019070035. https://doi.org/10.20944/preprints201907.0035.v1
APA Style
Silva, B.M.F.D., Xavier, R.S., & Gonçalves, L.M.G. (2019). Mapping and Navigation for Indoor Robots under ROS: An Experimental Analysis. Preprints. https://doi.org/10.20944/preprints201907.0035.v1
Chicago/Turabian Style
Silva, B.M.F.D., Rodrigo S. Xavier and Luiz M. G. Gonçalves. 2019 "Mapping and Navigation for Indoor Robots under ROS: An Experimental Analysis" Preprints. https://doi.org/10.20944/preprints201907.0035.v1
Abstract
Since it was proposed, the Robot Operating System (ROS) has fostered solutions for various problems in robotics in the form of ROS packages. One of these problems is Simultaneous Localization and Mapping (SLAM), a problem solved by computing the robot pose and a map of its environment of operation at the same time. The increasingly availability of robot kits ready to be programmed and also of RGB-D sensors often pose the question of which SLAM package should be used given the application requirements. When the SLAM subsystem must deliver estimates for robot navigation, as is the case of applications involving autonomous navigation, this question is even more relevant. This work introduces an experimental analysis of GMapping and RTAB-Map, two ROS compatible SLAM packages, regarding their SLAM accuracy, quality of produced maps and use of produced maps in navigation tasks. Our analysis aims ground robots equipped with RGB-D sensors for indoor environments and is supported by experiments conducted on datasets from simulation, benchmarks and from our own robot.
Keywords
ROS; SLAM; RGB-D sensors; experimental analysis
Subject
Computer Science and Mathematics, Robotics
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
