研究目的
Investigating the enhancement of SLAM method for mapping and tracking using a low-cost laser scanner without odometer information.
研究成果
The proposed SLAM technique, based on modified HECTOR SLAM settings and using a low-cost laser scanner without odometer or IMU, achieved a 97% accuracy in mapping indoor environments, outperforming the standard algorithm setup. Future work includes testing in harsh outdoor environments and addressing accuracy issues at higher speeds.
研究不足
The method shows alignment faults at speeds more than 10 kilometers per hour, which is not significant for the targeted indoor environment where the average movement speed is less than 7 kilometers per hour.
1：Experimental Design and Method Selection:
The study modifies the HECTOR SLAM method settings to work without odometer information and IMU device, using a different hardware setup.
2：Sample Selection and Data Sources:
The testing system includes a Hokuyo UST10 laser scanner sensor and an Intel NUC processing unit.
3：List of Experimental Equipment and Materials:
Hokuyo UST10 laser scanner, Intel NUC mini-pc, Ubuntu
4：04 OS, ROS kinetic framework. Experimental Procedures and Operational Workflow:
The system was tested in the Ambient Assisted Living Laboratory with modified HECTOR SLAM settings.
5：Data Analysis Methods:
The performance was evaluated based on the accuracy and continuity of the generated maps.
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