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Citation

Petr Neduchal and Miroslav Flídr : Development of a Laboratory Framework for Testing Simultaneous Localization and Mapping Approaches . IFAC-PapersOnLine, vol. 49, p. 493-498, Elsevier, 2016.

Abstract

This paper deals with the task of developing a laboratory framework for testing Simultaneous Localization And Mapping algorithms (SLAM). The laboratory framework is composed of three parts. The first one are sensors attached to some mobile device like an unmanned ground or aerial vehicle. The second part is an embedded computer which is employed for collecting data from attached sensors and then it sends it to a remote computing node which is the last part of the proposed laboratory framework. The main purpose of the computing node is to solve the SLAM task. For computation and communication between the embedded computer and the computing node the Robot Operating System (ROS) is used. It provides communication layer based on standard ROS message mechanism that simplifies data exchange over a network. The laboratory framework is designed to work with common combinations of sensors used in various SLAM algorithms. Moreover, the laboratory framework makes it possible to replace the real environment or the robot platform with a simulated alternative. The laboratory framework builds on open source projects and on a proprietary software that is freely available for academic use.

Detail of publication

Title: Development of a Laboratory Framework for Testing Simultaneous Localization and Mapping Approaches
Author: Petr Neduchal ; Miroslav Flídr
Language: English
Date of publication: 23 Dec 2016
Year: 2016
Type of publication: Papers in proceedings of reviewed conferences
Title of journal or book: IFAC-PapersOnLine
Číslo vydání: 49
Page: 493 - 498
DOI: 10.1016/j.ifacol.2016.12.089
ISSN: 2405-8963
Publisher: Elsevier
/ 2019-11-21 09:10:32 /

Keywords

SLAM Robotics, Sensors, Cameras, Inertial measurement Units, Encoders

BibTeX

@ARTICLE{PetrNeduchal_2016_Developmentofa,
 author = {Petr Neduchal and Miroslav Fl\'{i}dr},
 title = {Development of a Laboratory Framework for Testing Simultaneous Localization and Mapping Approaches},
 year = {2016},
 publisher = {Elsevier},
 journal = {IFAC-PapersOnLine},
 volume = {49},
 pages = {493-498},
 ISSN = {2405-8963},
 doi = {10.1016/j.ifacol.2016.12.089},
 url = {http://www.kky.zcu.cz/en/publications/PetrNeduchal_2016_Developmentofa},
}