2D LiDAR SLAM Results

Comparative experiments for 2D-LiDAR SLAM pipeline

In this page we will collect a set of comparative experiments for our 2D-LiDAR pipeline.

The comparison has been performed with a state-of-the-art pipeline available open-source at this page.

Datasets

We used both simulated and real-world datasets to evaluate this pipeline. The specs for the simulated ones are the following:

Dataset	Length
stage-0	43.191 [m]
stage-1	79.146 [m]
stage-2	480.741 [m]
stage-3	627.709 [m]

As for the real-world scenario, we currently do not have ground-truth information and, thus, the provided results are only qualitative.

Real-World Dataset

The dataset has been acquired in the Department of Computer, Control and Management Engineering (DIAG) at Sapienza University of Rome.

Final Map and Trajectory: srrg-mapper2d

Final Map and Trajectory: Our Pipeline

Simulated Datasets

Here we will report the final APE evaluated on the computed trajectory with both approaches. The simulated platform has been equipped with two laser rangefinders, front and back facing respectively.

stage-0

srrg-mapper2d (using only front laser)

Our Pipeline (using only front laser)

Our Pipeline (using both lasers)

stage-1

srrg-mapper2d (using only front laser)

Our Pipeline (using only front laser)

Our Pipeline (using both lasers)

stage-2

srrg-mapper2d (using only front laser)

Our Pipeline (using only front laser)

Our Pipeline (using both lasers)

stage-3

srrg-mapper2d (using only front laser)

Our Pipeline (using only front laser)

Our Pipeline (using both lasers)