An evaluation of 2D SLAM techniques available in Robot Operating System

@article{Santos2013AnEO,
  title={An evaluation of 2D SLAM techniques available in Robot Operating System},
  author={Jo{\~a}o Machado Santos and David Portugal and Rui Pedro Rocha},
  journal={2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
  year={2013},
  pages={1-6}
}
In this work, a study of several laser-based 2D Simultaneous Localization and Mapping (SLAM) techniques available in Robot Operating System (ROS) is conducted. All the approaches have been evaluated and compared in 2D simulations and real world experiments. In order to draw conclusions on the performance of the tested techniques, the experimental results were collected under the same conditions and a generalized performance metric based on the k-nearest neighbors concept was applied. Moreover… CONTINUE READING
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