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

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

9 Atıf (Scopus)

Özet

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.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	Proceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
ISBN (Elektronik)	9781665488945
DOI'lar	https://doi.org/10.1109/ASYU56188.2022.9925444
Yayın durumu	Yayınlandı - 2022
Etkinlik	2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022 - Antalya, Turkey Süre: 7 Eyl 2022 → 9 Eyl 2022

Yayın serisi

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

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022
Ülke/Bölge	Turkey
Şehir	Antalya
Periyot	7/09/22 → 9/09/22

Bibliyografik not

Publisher Copyright:
© 2022 IEEE.

Finansman

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

Finansörler	Finansör numarası
Turkish Scientific and Technological Research Council
Türkiye Bilimsel ve Teknolojik Araştırma Kurumu	121E537

Belgeye Erişim

10.1109/ASYU56188.2022.9925444

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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).

@inproceedings{0e2beb25810f41d48e54355caaa7c056,

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.",

keywords = "ROS, SLAM, SSIM, autonomous vehicles, lidar, wheelchair",

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

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022 ; Conference date: 07-09-2022 Through 09-09-2022",

year = "2022",

doi = "10.1109/ASYU56188.2022.9925444",

language = "English",

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

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "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).

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

TY - GEN

T1 - Comparison of Autonomous Robot's Mapping Performance Based on Number of Lidars And Number of Tours

AU - Altinpinar, Ozan Vahit

AU - Contarli, Emre Can

AU - Kagizman, Ahmet

AU - Uguzlar, Umut

AU - Cansu, Enes

AU - Sezer, Volkan

PY - 2022

Y1 - 2022

N2 - 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.

AB - 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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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

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