Comparison of Autonomous Robot's Mapping Performance Based on Number of Lidars And Number of Tours

Ozan Vahit Altinpinar; Emre Can Contarli; Ahmet Kagizman; Umut Uguzlar; Enes Cansu; Volkan Sezer

doi:10.1109/ASYU56188.2022.9925444

Comparison of Autonomous Robot's Mapping Performance Based on Number of Lidars And Number of Tours

Ozan Vahit Altinpinar, Emre Can Contarli, Ahmet Kagizman, Umut Uguzlar, Enes Cansu, Volkan Sezer

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Citations (Scopus)

Abstract

Autonomous mobility is increasing its popularity day by day. Mapping, localization, planning, and control are the main research topics of autonomous systems. The performance of localization directly depends on the map quality. This paper aims to show how to improve mapping performance, by increasing the measurements and number of tours. In this context, using the GMapping package of the ROS platform, the mapping performance of two lidars located in different regions and heights of the wheelchair, working separately and together, is examined. In addition, the mapping performance according to the number of tours in the mapped region is also tested. As a result, it is confirmed that the results obtained using two lidars are more successful than a single lidar. Additionally, loop closure's effect on increasing the map quality is shown in the paper.

Original language	English
Title of host publication	Proceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665488945
DOIs	https://doi.org/10.1109/ASYU56188.2022.9925444
Publication status	Published - 2022
Event	2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022 - Antalya, Turkey Duration: 7 Sept 2022 → 9 Sept 2022

Publication series

Name	Proceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022

Conference

Conference	2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022
Country/Territory	Turkey
City	Antalya
Period	7/09/22 → 9/09/22

Bibliographical note

Publisher Copyright:
© 2022 IEEE.

Funding

ACKNOWLEDGMENT This work was supported by the Turkish Scientific and Technological Research Council (TUBITAK) under project no. 121E537.

Funders	Funder number
Turkish Scientific and Technological Research Council
Türkiye Bilimsel ve Teknolojik Araştırma Kurumu	121E537

Keywords

ROS
SLAM
SSIM
autonomous vehicles
lidar
wheelchair

Access to Document

10.1109/ASYU56188.2022.9925444

Cite this

Altinpinar, O. V., Contarli, E. C., Kagizman, A., Uguzlar, U., Cansu, E., & Sezer, V. (2022). Comparison of Autonomous Robot's Mapping Performance Based on Number of Lidars And Number of Tours. In Proceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022 (Proceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASYU56188.2022.9925444

Altinpinar, Ozan Vahit ; Contarli, Emre Can ; Kagizman, Ahmet et al. / Comparison of Autonomous Robot's Mapping Performance Based on Number of Lidars And Number of Tours. Proceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022. Institute of Electrical and Electronics Engineers Inc., 2022. (Proceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022).

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title = "Comparison of Autonomous Robot's Mapping Performance Based on Number of Lidars And Number of Tours",

abstract = "Autonomous mobility is increasing its popularity day by day. Mapping, localization, planning, and control are the main research topics of autonomous systems. The performance of localization directly depends on the map quality. This paper aims to show how to improve mapping performance, by increasing the measurements and number of tours. In this context, using the GMapping package of the ROS platform, the mapping performance of two lidars located in different regions and heights of the wheelchair, working separately and together, is examined. In addition, the mapping performance according to the number of tours in the mapped region is also tested. As a result, it is confirmed that the results obtained using two lidars are more successful than a single lidar. Additionally, loop closure's effect on increasing the map quality is shown in the paper.",

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author = "Altinpinar, {Ozan Vahit} and Contarli, {Emre Can} and Ahmet Kagizman and Umut Uguzlar and Enes Cansu and Volkan Sezer",

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language = "English",

series = "Proceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022",

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Altinpinar, OV, Contarli, EC , Kagizman, A, Uguzlar, U, Cansu, E & Sezer, V 2022, Comparison of Autonomous Robot's Mapping Performance Based on Number of Lidars And Number of Tours. in Proceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022. Proceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022, Institute of Electrical and Electronics Engineers Inc., 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022, Antalya, Turkey, 7/09/22. https://doi.org/10.1109/ASYU56188.2022.9925444

Comparison of Autonomous Robot's Mapping Performance Based on Number of Lidars And Number of Tours. / Altinpinar, Ozan Vahit; Contarli, Emre Can ; Kagizman, Ahmet et al.
Proceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022. Institute of Electrical and Electronics Engineers Inc., 2022. (Proceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Uguzlar, Umut

AU - Cansu, Enes

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Altinpinar OV, Contarli EC , Kagizman A, Uguzlar U, Cansu E, Sezer V. Comparison of Autonomous Robot's Mapping Performance Based on Number of Lidars And Number of Tours. In Proceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022. Institute of Electrical and Electronics Engineers Inc. 2022. (Proceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022). doi: 10.1109/ASYU56188.2022.9925444

Comparison of Autonomous Robot's Mapping Performance Based on Number of Lidars And Number of Tours

Abstract

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Bibliographical note

Funding

Keywords

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