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Indoor LiDAR Scan Matching Simulation Framework for Intelligent Algorithms Evaluation

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Proceedings of the First International Scientific Conference “Intelligent Information Technologies for Industry” (IITI’16)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 451))

Abstract

Localization in mobile robotics is one of the most challenging concerns, taking into account the demand on perfect accuracy and quick response. However, high-performance approaches in conjunction with cutting-edge technologies are not necessarily applicable in every case, and thus an optimized localization algorithms suitable for implementation in low-end hardware applications are to be favorable to fill the market niche. Simulation framework, introduced in this contribution, is capable of performing simulations of systems with LiDAR and model an ambient environment by means of user-defined vector maps. Modeled laser sensor is SICK LMS 100. The framework, developed in C# language, enables the user to generate laser scans from user-defined vector maps and trajectories. Scans can subsequently be used for simulations. Computational method considered in this study is particularly Scan Matching.

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Acknowledgement

This work was supported by the project SP2016/162, ‘Development of algorithms and systems for control, measurement and safety applications II’ of Student Grant System, VSB-TU Ostrava.

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Authors and Affiliations

  1. VSB - Technical University of Ostrava, 70833, Ostrava-Poruba, Czech Republic

    Jaromir Konecny, Michal Prauzek & Jakub Hlavica

Authors
  1. Jaromir Konecny
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  2. Michal Prauzek
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  3. Jakub Hlavica
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Corresponding author

Correspondence to Jaromir Konecny .

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Editors and Affiliations

  1. Sci N/w for Innova and Research Exc, Machine Intelligence Research Labs, Auburn, Washington, USA

    Ajith Abraham

  2. Rostov State Transport University, Rostov-on-Don, Russia

    Sergey Kovalev

  3. Bauman Moscow State Technical University, Moscow, Russia

    Valery Tarassov

  4. Institute of Mathematics, VŠB-Technical University of Ostrava, Ostrava, Czech Republic

    Václav Snášel

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© 2016 Springer International Publishing Switzerland

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Konecny, J., Prauzek, M., Hlavica, J. (2016). Indoor LiDAR Scan Matching Simulation Framework for Intelligent Algorithms Evaluation. In: Abraham, A., Kovalev, S., Tarassov, V., Snášel, V. (eds) Proceedings of the First International Scientific Conference “Intelligent Information Technologies for Industry” (IITI’16). Advances in Intelligent Systems and Computing, vol 451. Springer, Cham. https://doi.org/10.1007/978-3-319-33816-3_35

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  • DOI: https://doi.org/10.1007/978-3-319-33816-3_35

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33815-6

  • Online ISBN: 978-3-319-33816-3

  • eBook Packages: EngineeringEngineering (R0)

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