研究目的
To propose a hierarchical searching approach for laser SLAM re-localization that achieves high accuracy with minimal time cost.
研究成果
The hierarchical searching approach effectively addresses the re-localization problem in laser SLAM, offering a balance between high precision and low time cost. It is lightweight and suitable for implementation on mobile robot platforms, demonstrating significant improvements over traditional methods in terms of re-localization capability and efficiency.
研究不足
The approach may require additional layers of searching for very large maps, potentially increasing time cost. The precision, while high, is slightly lower than some traditional methods that do not support re-localization.
1：Experimental Design and Method Selection:
The study employs a hierarchical searching algorithm for re-localization in laser SLAM, comparing an input laser frame with the whole 2-D map in a layered approach.
2：Sample Selection and Data Sources:
The algorithm is tested on a wheeled robot platform equipped with a UTM-30LX-EW laser ranger in a 20m×20m map area.
3：List of Experimental Equipment and Materials:
UTM-30LX-EW Laser Ranger, wheeled robot platform, Mobile Robot Programming Toolkit (MRPT).
4：Experimental Procedures and Operational Workflow:
The algorithm performs 2-3 layers of searching, narrowing down potential positions from the whole map to specific areas, comparing laser frames at each step.
5：Data Analysis Methods:
The performance is evaluated based on average precision (AP) and time cost, comparing with traditional ICP methods.
独家科研数据包，助您复现前沿成果，加速创新突破
获取完整内容
