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Evaluation of Out-of-the-Box ROS 2D SLAMs for Autonomous Exploration of Unknown Indoor Environments

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Intelligent Robotics and Applications (ICIRA 2018)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10985))

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Abstract

In this work, we provide an insight study of various 2D Simultaneous Localization and Mapping (SLAM) solutions available in Robotic Operating System (ROS) in the context of autonomous exploration of unknown indoor environment. We are interested in verifying which SLAM packages works out-of-the box for such system. Beside of validating the resulting SLAM’s maps quality, it is necessary to validate also the online mapping reliability and stability of the SLAMs as well as their robustness in environment variation. To be able to conclude the performance of each tested SLAM, a series of tests in both simulation and real world experiment has been conducted on different kinds of terrain. Based on our metrics, we show that Karto SLAM produces the best result when doing autonomous online mapping of unknown indoor environments. We also show that Cartographer can achieve better results than Karto SLAM but this requires offline post-processing to tune the parameters specifically for a given terrain.

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Notes

  1. 1.

    http://wiki.ros.org/frontier_exploration.

  2. 2.

    http://wiki.ros.org/frontier_allocation.

  3. 3.

    http://wiki.ros.org/move_base.

  4. 4.

    http://wiki.ros.org/adaptive_local_planner.

  5. 5.

    http://wiki.ros.org/slam_karto.

  6. 6.

    https://docs.opencv.org/3.1.0/db/d61/group__reg.html.

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Acknowledgement

This work was completed in the framework of DataScience project which is co-financed by European Union with the financial support of European Regional Development Fund (ERDF), French State and French Region of Hauts-de-France.

Thanks to Holger Rapp, one of the Google Cartographer’s authors for his help in tuning Cartographer parameters (https://github.com/googlecartographer/cartographer_ros/issues/533).

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Authors and Affiliations

  1. IMT Lille-Douai, 59500, Douai, France

    Xuan Sang Le, Luc Fabresse, Noury Bouraqadi & Guillaume Lozenguez

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  1. Xuan Sang Le
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  2. Luc Fabresse
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  4. Guillaume Lozenguez
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Correspondence to Xuan Sang Le .

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Editors and Affiliations

  1. University of Newcastle, Callaghan, New South Wales, Australia

    Zhiyong Chen

  2. University of Newcastle, Callaghan, New South Wales, Australia

    Alexandre Mendes

  3. University of Newcastle, Callaghan, New South Wales, Australia

    Yamin Yan

  4. Shenzhen Institutes of Advanced Technology, Shenzhen, China

    Shifeng Chen

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Le, X.S., Fabresse, L., Bouraqadi, N., Lozenguez, G. (2018). Evaluation of Out-of-the-Box ROS 2D SLAMs for Autonomous Exploration of Unknown Indoor Environments. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. https://doi.org/10.1007/978-3-319-97589-4_24

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  • DOI: https://doi.org/10.1007/978-3-319-97589-4_24

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-97588-7

  • Online ISBN: 978-3-319-97589-4

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