Abstract
This paper will explore the relationship between sensory accuracy and Simultaneous Localization and Mapping (SLAM) performance. As inexpensive robots are developed with commodity components, the relationship between performance level and accuracy will need to be determined. Experiments are presented in this paper which compare various aspects of sensor performance such as maximum range, noise, angular precision, and viewable angle. In addition, mapping results from three popular laser scanners (Hokuyo’s URG and UTM30, as well as SICK’s LMS291) are compared.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
ARL, Army Research Lab Micro Autonomous Systems and Technology Collaborative Technology Alliance MAST CTA (2006), http://www.arl.army.mil/www/default.cfm?page=332
Triggs, B., McLauchlan, P.F., Hartley, R.I., Fitzgibbon, A.W.: Bundle Adjustment – A Modern Synthesis. In: Triggs, B., Zisserman, A., Szeliski, R. (eds.) ICCV-WS 1999. LNCS, vol. 1883, pp. 298–372. Springer, Heidelberg (2000)
Bailey, T.: Constrained initialisation for bearing-only SLAM. In: IEEE International Conference on Robotics and Automation (2003)
Bailey, T., Durrant-Whyte, H.: Simultaneous localisation and mapping (SLAM): Part II state of the art. Robotics and Automation Magazine (2006)
Berrabah, S.A., Baudoin, Y., Sahli, H.: SLAM for robotic assistance to fire-fighting services. World Congress on Intelligent Control and Automation (2010)
Burgard, W., Stachniss, C., Grisetti, G., Steder, B.: Trajectory-based comparison of SLAM algorithms. In: IEEE International Conference on Intelligent Robots and Systems (2009)
Chatila, R., Laumond, J.P.: Position referencing and consistent world modeling for mobile robots. In: IEEE International Conference on Robotics and Automation (1985)
Crowley, J.: World modeling and position estimation for a mobile robot using ultra-sonic ranging. In: IEEE International Conference on Robotics and Automation (1989)
Dellaert, F.: Square root SAM: Simultaneous localization and mapping via square root information smoothing. Robotics: Science and Systems (2005)
Dellaert, F., Kaess, M.: Square root SAM: Simultaneous localization and mapping via square root information smoothing. International Journal of Robotics Research (2006)
Durrant-Whyte, H., Bailey, T.: Simultaneous localisation and mapping (SLAM): Part I the essential algorithms. Robotics and Automation Magazine (2006)
Folkesson, J., Christensen, H.: Graphical SLAM - a self-correcting map. In: IEEE International Conference on Robotics and Automation (2004)
Folkesson, J., Jensfelt, P., Christensen, H.I.: The M-Space feature representation for SLAM. IEEE Transactions on Robotics 23(5), 1024–1035 (2007)
Jason, M., LaValle, S.M.: Localization with limited sensing. IEEE Transations on Robotics 23, 704–716 (2007)
Kaess, M., Ranganathan, A., Dellaert, F.: Fast incremental square root information smoothing. In: International Joint Conference on Artificial Intelligence (2007)
Kaess, M., Ranganathan, A., Dellaert, F.: iSAM: Incremental smoothing and mapping. IEEE Transactions on Robotics (2008)
Müller, M., Surmann, H., Pervölz, K., May, S.: The accuracy of 6D SLAM using the AIS 3D laser scanner. In: International Conference on Multisensor Fusion and Integration for Intelligent Systems (2006)
Nguyen, V., Martinelli, A., Tomatis, N., Siegwart, R.: A comparison of line extraction algorithms using 2D laser rangefinder for indoor mobile robotics. In: IEEE International Conference on Intelligent Robots and Systems, pp. 1929–1934 (2005)
O’Kane, J.M., LaValle, S.M.: Almost-sensorless localization. In: IEEE International Conference on Robotics and Automation, pp. 3764–3769 (2005)
Smith, R., Cheeseman, P.: On the representation and estimation of spatial uncertainty. International Journal of Robotics Research 5(4), 56–68 (1987)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer-Verlag GmbH Berlin Heidelberg
About this chapter
Cite this chapter
Rogers, J.G. et al. (2014). Effects of Sensory Precision on Mobile Robot Localization and Mapping. In: Khatib, O., Kumar, V., Sukhatme, G. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 79. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-28572-1_30
Download citation
DOI: https://doi.org/10.1007/978-3-642-28572-1_30
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-28571-4
Online ISBN: 978-3-642-28572-1
eBook Packages: EngineeringEngineering (R0)