Detail publikace

Localization Accuracy of Autonomous Mobile Robots: A Comprehensive Evaluation of KISS-ICP Odometry

CIHLÁŘ, M.

Originální název

Typ

článek ve sborníku mimo WoS a Scopus

Jazyk

angličtina

Originální abstrakt

This paper emphasizes the importance of accurate localization for the appropriate behavior of autonomous mobile robots. In particular, it provides a rigorous evaluation of the accuracy of the KISS-ICP algorithm, a lightweight lidar-based pose estimation algorithm known for its simplicity with minimal setup parameters. The algorithm works only with lidar data; unlike other more sophisticated SLAM algorithms, it does not use IMUs. The algorithm is shown to work under a variety of conditions and sensors. To comprehensively evaluate how the algorithm performs under varying conditions, several sensors were used in the experiments. The evaluation included a series of 3D lidars, namely Ouster OS0, OS1, and OS2. These lidars are characterized by different field-of-view settings and operating modes with different point per row. In order to facilitate this evaluation, a data set with extensive robot traversals over a distance of more than 9 km in two different environments, each equipped with different sensor types, was prepared.

Klíčová slova

Localization, SLAM, Outdoor navigation, ROS

Autoři

CIHLÁŘ, M.

Vydáno

23. 4. 2024

Nakladatel

Brno University of Technology, Faculty of Electronic Engineeringy and Communication

Místo

Brno

Strany od

319

Strany do

326

Strany počet

URL

https://www.eeict.cz/eeict_download/archiv/sborniky/EEICT_2024_sbornik_1.pdf

BibTex

@inproceedings{BUT188552,
  author="Miloš {Cihlář}",
  title="Localization Accuracy of Autonomous Mobile Robots: A Comprehensive Evaluation of KISS-ICP Odometry",
  year="2024",
  pages="319--326",
  publisher="Brno University of Technology, Faculty of Electronic Engineeringy and Communication",
  address="Brno",
  url="https://www.eeict.cz/eeict_download/archiv/sborniky/EEICT_2024_sbornik_1.pdf"
}