Systematic and comparative analysis of techniques for SLAM development in mobile robotics

Stalin Quimbita; Diego Chuquitarco; Vicente Hallo; Nancy Velasco; Dario Mendoza

doi:10.1117/12.2522937

15 March 2019 Systematic and comparative analysis of techniques for SLAM development in mobile robotics

Stalin Quimbita, Diego Chuquitarco, Vicente Hallo, Nancy Velasco, Dario Mendoza

Proceedings Volume 11041, Eleventh International Conference on Machine Vision (ICMV 2018); 110412X (2019) https://doi.org/10.1117/12.2522937
Event: Eleventh International Conference on Machine Vision (ICMV 2018), 2018, Munich, Germany

Abstract

In recent decades, great researchers have focused on the development of simultaneous localization and mapping. Thus, SLAM technology (Simultaneous Localization and Mapping) has gone through a great technological evolution over the years. The present investigative work shows a chronology of milestones in the evolution of the SLAM of mobile robotics until today with a comparison of the main techniques that have been developed, aiming to identify the most suitable algorithm to perform a generation of 3D SLAM in real time in terms to improve accuracy, speed, and robustness among other aspects. These features will help to reduce mapping reconstructions errors, to improve the localization of a robot, and to provide greater reliability of the environment worked. This analysis will be established under some specific research criteria and as a prelude to a project focused on making a mobile robot capable of providing relevant information for search and rescue of people in critical situations, situations in which where it will be essential to perform SLAM 3D reliably and in real time. Thus, the present work it is focused to do an important systematic analysis regarding mobile robotics on the need to reason in a world that is sometimes confusing, sometimes dynamic and changing.

Citation Download Citation

Stalin Quimbita, Diego Chuquitarco, Vicente Hallo, Nancy Velasco, and Dario Mendoza "Systematic and comparative analysis of techniques for SLAM development in mobile robotics", Proc. SPIE 11041, Eleventh International Conference on Machine Vision (ICMV 2018), 110412X (15 March 2019); https://doi.org/10.1117/12.2522937

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KEYWORDS

Robotics

Particles

Filtering (signal processing)

Sensors

Algorithm development

Associative arrays

Cameras

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