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Iberian Robotics conference

ROBOT 2019: Robot 2019: Fourth Iberian Robotics Conference pp 28–36Cite as

Evaluation of SLAM Algorithms for Highly Dynamic Environments

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1093))

Abstract

Simultaneous Localization And Mapping (SLAM) has received considerably attention in the mobile robotics community for more than 25 years. Most SLAM algorithms have been developed for and successfully tested in static environments. Previous studies that investigated the use of SLAM algorithms in dynamic environments only considered partially dynamic environment in which only a few objects are non-static. In this paper, we evaluate several popular SLAM algorithms for use in highly dynamic environments in which all objects are only temporarily static, i.e. all objects will be moved within a short time frame. To this end, we built a static test environment and defined two different scenarios based on a warehouse environment to simulate highly dynamic environments. Four different 2D SLAM algorithms that are available in Robotic Operating System (ROS) are employed and evaluated through visual inspection of produced maps and the difference between the object positions in obtained maps and their real positions in the environment. Based on our conducted evaluation Hector Mapping achieves the best performance in both scenarios.

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Notes

  1. 1.

    http://www.ros.org/.

  2. 2.

    https://github.com/ros-perception/slam_gmapping.git.

  3. 3.

    https://github.com/paulbovbel/frontier_exploration.git.

  4. 4.

    https://code.ros.org/svn/ros-pkg/stacks/slam_karto/trunk.

  5. 5.

    https://github.com/tu-darmstadt-ros-pkg/hector_slam.git.

  6. 6.

    http://wiki.ros.org/laser_geometry.

  7. 7.

    http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/.

  8. 8.

    http://wiki.ros.org/rviz.

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Author information

Authors and Affiliations

  1. Rösler Software-Technik Entwicklungs - und Vertriebsgesellschaft mbH, 28816, Stuhr, Germany

    Oliver Roesler & Vignesh Padubidri Ravindranath

Authors
  1. Oliver Roesler
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  2. Vignesh Padubidri Ravindranath
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Corresponding author

Correspondence to Oliver Roesler .

Editor information

Editors and Affiliations

  1. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  2. Department of Electrical Engineering, Polytechnic Institute of Bragança, Bragança, Portugal

    José Luís Lima

  3. Faculty of Engineering, University of Porto, Porto, Portugal

    Luís Paulo Reis

  4. UPC, Universitat Politècnica de Catalunya, Barcelona, Spain

    Alberto Sanfeliu

  5. Centro Universitario de la Defensa (CUD), Zaragoza, Spain

    Danilo Tardioli

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Roesler, O., Ravindranath, V.P. (2020). Evaluation of SLAM Algorithms for Highly Dynamic Environments. In: Silva, M., Luís Lima, J., Reis, L., Sanfeliu, A., Tardioli, D. (eds) Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019. Advances in Intelligent Systems and Computing, vol 1093. Springer, Cham. https://doi.org/10.1007/978-3-030-36150-1_3

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