Abstract
Localization in mobile robotics is one of the most challenging concerns, taking into account the demand on perfect accuracy and quick response. However, high-performance approaches in conjunction with cutting-edge technologies are not necessarily applicable in every case, and thus an optimized localization algorithms suitable for implementation in low-end hardware applications are to be favorable to fill the market niche. Simulation framework, introduced in this contribution, is capable of performing simulations of systems with LiDAR and model an ambient environment by means of user-defined vector maps. Modeled laser sensor is SICK LMS 100. The framework, developed in C# language, enables the user to generate laser scans from user-defined vector maps and trajectories. Scans can subsequently be used for simulations. Computational method considered in this study is particularly Scan Matching.
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Acknowledgement
This work was supported by the project SP2016/162, ‘Development of algorithms and systems for control, measurement and safety applications II’ of Student Grant System, VSB-TU Ostrava.
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Konecny, J., Prauzek, M., Hlavica, J. (2016). Indoor LiDAR Scan Matching Simulation Framework for Intelligent Algorithms Evaluation. In: Abraham, A., Kovalev, S., Tarassov, V., Snášel, V. (eds) Proceedings of the First International Scientific Conference “Intelligent Information Technologies for Industry” (IITI’16). Advances in Intelligent Systems and Computing, vol 451. Springer, Cham. https://doi.org/10.1007/978-3-319-33816-3_35
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DOI: https://doi.org/10.1007/978-3-319-33816-3_35
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