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Comparative Analysis of Three Kinds of Laser SLAM Algorithms

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Algorithms and Architectures for Parallel Processing (ICA3PP 2020)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 12453))

Abstract

With the development of artificial intelligence, the application of robots is also rapidly increasing. How to autonomously navigate and complete complex tasks for robots in an unknown environment is a hot spot in the research domain of simultaneous positioning and map construction (SLAM) algorithms. To better study and apply three common laser SLAM algorithms, by building a SLAM environment on the ROS robot platform, Hector SLAM, Gmapping, and Cartographer algorithms were used to conduct actual indoor mapping experiments. All three algorithms can achieve effective indoor two-bit mapping construction. By comparing and analyzing the three SLAM algorithms, the mapping accuracy of the Cartographer algorithm is significantly better than Hector SLAM and Gmapping algorithms. Meantime, the Cartographer algorithm has better robustness.

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Acknowledgment

This work is supported by the National Key Research and Development Plan of China under Grant No. 2016YFB0501801, National Natural Science Foundation of China under Grant No. 61170026, the National Standard Research Project under Grant No. 2016BZYJ-WG7-001, the Key Research and Development Plan of Jiang Xi province under Grant No. 20171ACE50022 and the Natural Science Foundation of Jiang Xi province under Grant No. 20171BAB202011, the science aánd technology research project of Jiang Xi Education Department under Grant Nos. GJJ180730, GJJ180727, GJJ181520, and the Science and Technology project of Jingdezhen under Grant Nos. 20182GYZD011-01, 20192GYZD008-01, 2019GYZD008-03, and the Open Research Project of the State Key Laboratory of Industrial Control Technology, Zhejiang University, China (No. ICT 20025).

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Authors and Affiliations

  1. School of Information Engineering, Jingdezhen Ceramic Institute, Jingdezhen, China

    Xin Liu, Yang Lin & Hua Huang

  2. College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, Guangdong, China

    Meikang Qiu

Authors
  1. Xin Liu
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  2. Yang Lin
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  3. Hua Huang
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  4. Meikang Qiu
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Corresponding authors

Correspondence to Xin Liu or Hua Huang .

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Editors and Affiliations

  1. Columbia University, New York, NY, USA

    Meikang Qiu

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Liu, X., Lin, Y., Huang, H., Qiu, M. (2020). Comparative Analysis of Three Kinds of Laser SLAM Algorithms. In: Qiu, M. (eds) Algorithms and Architectures for Parallel Processing. ICA3PP 2020. Lecture Notes in Computer Science(), vol 12453. Springer, Cham. https://doi.org/10.1007/978-3-030-60239-0_31

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