Gmapping与Karto SLAM系统的评价与比较

IF 1.5 Q3 AUTOMATION & CONTROL SYSTEMS IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI:10.1109/CYBER55403.2022.9907154

Shengshu Liu, Y. Lei, Xin Dong

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引用次数: 0

摘要

gapping和Karto是两种经典的基于激光的SLAM算法，广泛应用于各种领域。本文对这两种算法的性能进行了评价和比较。在自建的室外环境中进行了一系列实验。对算法的参数进行了调整，对不同参数设置的性能进行了评价和比较，并对两种算法在定位精度和计算成本方面的优缺点进行了讨论。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Evaluation and Comparison of Gmapping and Karto SLAM Systems

Gmapping and Karto are two classic laser-based SLAM algorithms widely used in various applications. This paper evaluated and compared the performances of these two algorithms. A series of experiments were conducted within the self-built outdoor environments. The parameters of algorithms were tuned, the performances of different parameter settings were evaluated and compared, and the pros and cons regarding mapping and localization accuracy and computational cost of two algorithms were discussed.

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