Enchancing SLAM method for mapping and tracking using a low cost laser scanner

Abstract

This paper presents a SLAM technique that does not use odometer information. It is based on HECTOR SLAM method from Technische Universitat of Darmstadt, but using a different hardware from the proposed and finally without the use of IMU device. The method is based on modified settings of the HECTOR SLAM method and manages to optimize the method based on COTS hardware.