2D SLAM Algorithms Characterization, Calibration, and Comparison Considering Pose Error, Map Accuracy, CPU Usage, and Memory Usage
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| Autores: | , , , , |
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| Formato: | artículo original |
| Fecha de Publicación: | 2022 |
| Descripción: | The present work proposes a method to characterize, calibrate, and compare, any 2D SLAM algorithm, providing strong statistical evidence, based on descriptive and inferential statistics to bring confidence levels about overall behavior of the algorithms and their comparisons. This work focuses on characterize, calibrate, and compare Cartographer, Gmapping, HECTOR-SLAM, KARTO-SLAM, and RTAB-Map SLAM algorithms, there were four metrics in place, these are pose error, map accuracy, CPU usage, and memory usage, from these four metrics, to characterize them, Plackett-Burman and factorial experiments were performed, and enhancement after characterization and calibration was granted by using hypothesis tests besides central limit theorem. |
| País: | Kérwá |
| Institución: | Universidad de Costa Rica |
| Repositorio: | Kérwá |
| Lenguaje: | Inglés |
| OAI Identifier: | oai:kerwa.ucr.ac.cr:10669/86591 |
| Acceso en línea: | https://hdl.handle.net/10669/86591 |
| Palabra clave: | 2D SLAM SLAM calibration ROS GAZEBO Cartographer Gmapping HECTOR-SLAM KARTO-SLAM RTAB-Map APE Knn-Search Plackett-Burman |