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    Effects of sensory precision on mobile robot localization and mapping

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    christensen_ISER2010_001.pdf (672.7Kb)
    Date
    2010-12
    Author
    Rogers, John G.
    Trevor, Alexander J. B.
    Nieto-Granda, Carlos
    Cunningham, Alexander
    Paluri, Manohar
    Michael, Nathan
    Dellaert, Frank
    Christensen, Henrik I.
    Kumar, Vijay
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    Abstract
    This paper will explore the relationship between sensory accuracy and Simultaneous Localization and Mapping (SLAM) performance. As inexpensive robots are developed with commodity components, the relationship between performance level and accuracy will need to be determined. Experiments are presented in this paper which compare various aspects of sensor performance such as maximum range, noise, angular precision, and viewable angle. In addition, mapping results from three popular laser scanners (Hokuyo’s URG and UTM30, as well as SICK’s LMS291) are compared.
    URI
    http://hdl.handle.net/1853/42363
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    • Cognitive Robotics Publications [82]

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