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

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but.event.date23.04.2024cs
but.event.titleSTUDENT EEICT 2024cs
dc.contributor.authorCihlář, Miloš
dc.date.accessioned2024-07-09T07:38:41Z
dc.date.available2024-07-09T07:38:41Z
dc.date.issued2024cs
dc.description.abstractThis 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.en
dc.formattextcs
dc.format.extent319-326cs
dc.format.mimetypeapplication/pdfen
dc.identifier.citationProceedings I of the 30st Conference STUDENT EEICT 2024: General papers. s. 319-326. ISBN 978-80-214-6231-1cs
dc.identifier.isbn978-80-214-6231-1
dc.identifier.issn2788-1334
dc.identifier.urihttps://hdl.handle.net/11012/249260
dc.language.isoencs
dc.publisherVysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních technologiícs
dc.relation.ispartofProceedings I of the 30st Conference STUDENT EEICT 2024: General papersen
dc.relation.urihttps://www.eeict.cz/eeict_download/archiv/sborniky/EEICT_2024_sbornik_1.pdfcs
dc.rights© Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních technologiícs
dc.rights.accessopenAccessen
dc.subjectLocalizationen
dc.subjectSLAMen
dc.subjectOutdoor navigationen
dc.subjectROSen
dc.titleLocalization Accuracy of Autonomous Mobile Robots: A Comprehensive Evaluation of KISS-ICP Odometryen
dc.type.driverconferenceObjecten
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen
eprints.affiliatedInstitution.departmentFakulta elektrotechniky a komunikačních technologiícs
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