The LIDAR Odometry in the SLAM

descriptionPublicationkeyboard_double_arrow_right Article , Conference object , Other literature type 01 Nov 2018Publisher:IEEEJournal:2018 23rd Conference of Open Innovations Association (FRUCT)

Authors: Vasilii Kirnos; Vladimir Antipov; Andrey Priorov; Vera Kokovkina;

doi: 10.23919/fruct.2018.8588026

The LIDAR Odometry in the SLAM

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Abstract

This paper describes an algorithm that performs an contur analyzing of an environment with a single 2D Laser Imaging Detection and Ranging (LIDAR) sensor, as well as its implementation on a mobile platform using the Robot Operating System (ROS). The review of standard sensors shortcomings is provided in article. It is offered decisions on the creation of the space circuit which is based on the result received from a the scanning lazer range finder. Simulation of system is made in the Gazebo environment.

Related Organizations

Yaroslavl State University
Russian Federation

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