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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 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 languageEnglish
Title of host publicationProceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665488945
DOIs
Publication statusPublished - 2022
Event2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022 - Antalya, Turkey
Duration: 7 Sept 20229 Sept 2022

Publication series

NameProceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022

Conference

Conference2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022
Country/TerritoryTurkey
CityAntalya
Period7/09/229/09/22

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.

FundersFunder number
Turkish Scientific and Technological Research Council
Türkiye Bilimsel ve Teknolojik Araştırma Kurumu121E537

    Keywords

    • autonomous vehicles
    • lidar
    • ROS
    • SLAM
    • SSIM
    • wheelchair

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