Evaluation of Lidar-based 3D SLAM algorithms in SubT environment
نویسندگان
چکیده
Autonomous navigation of robots in harsh and GPS denied subterranean (SubT) environments with lack natural or poor illumination is a challenging task that fosters the development algorithms for pose estimation mapping. Inspired by need real-life deployment autonomous such environments, this article presents an experimental comparative study 3D SLAM algorithms. The focuses on state-of-the-art Lidar open-source implementation are i) lidar-only like BLAM, LOAM, A-LOAM, ISC-LOAM hdl graph slam, ii) lidar-inertial LeGO-LOAM, Cartographer, LIO-mapping LIO-SAM. evaluation methods performed based dataset collected from Boston Dynamics Spot robot equipped lidar Velodyne Puck Lite IMU Vectornav VN-100, during mission underground tunnel. In process poses tunnel reconstructions compared against each other to find most solid performance terms accuracy map quality.
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ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2022
ISSN: ['2405-8963', '2405-8971']
DOI: https://doi.org/10.1016/j.ifacol.2023.01.144