{"title":"Gmapping与Karto SLAM系统的评价与比较","authors":"Shengshu Liu, Y. Lei, Xin Dong","doi":"10.1109/CYBER55403.2022.9907154","DOIUrl":null,"url":null,"abstract":"Gmapping and Karto are two classic laser-based SLAM algorithms widely used in various applications. This paper evaluated and compared the performances of these two algorithms. A series of experiments were conducted within the self-built outdoor environments. The parameters of algorithms were tuned, the performances of different parameter settings were evaluated and compared, and the pros and cons regarding mapping and localization accuracy and computational cost of two algorithms were discussed.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":null,"pages":null},"PeriodicalIF":1.5000,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Evaluation and Comparison of Gmapping and Karto SLAM Systems\",\"authors\":\"Shengshu Liu, Y. Lei, Xin Dong\",\"doi\":\"10.1109/CYBER55403.2022.9907154\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Gmapping and Karto are two classic laser-based SLAM algorithms widely used in various applications. This paper evaluated and compared the performances of these two algorithms. A series of experiments were conducted within the self-built outdoor environments. The parameters of algorithms were tuned, the performances of different parameter settings were evaluated and compared, and the pros and cons regarding mapping and localization accuracy and computational cost of two algorithms were discussed.\",\"PeriodicalId\":34110,\"journal\":{\"name\":\"IET Cybersystems and Robotics\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.5000,\"publicationDate\":\"2022-07-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IET Cybersystems and Robotics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CYBER55403.2022.9907154\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IET Cybersystems and Robotics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CYBER55403.2022.9907154","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Evaluation and Comparison of Gmapping and Karto SLAM Systems
Gmapping and Karto are two classic laser-based SLAM algorithms widely used in various applications. This paper evaluated and compared the performances of these two algorithms. A series of experiments were conducted within the self-built outdoor environments. The parameters of algorithms were tuned, the performances of different parameter settings were evaluated and compared, and the pros and cons regarding mapping and localization accuracy and computational cost of two algorithms were discussed.