2D SLAM Quality Evaluation Methods

TL;DR

This paper proposes a method for comparing 2D SLAM algorithms by using three specific metrics to evaluate the accuracy of the generated maps, aiding in selecting the most suitable algorithm for a given task.

Contribution

It introduces a novel evaluation approach with three metrics specifically designed for assessing 2D SLAM map quality, facilitating better algorithm selection.

Findings

The proposed metrics effectively differentiate SLAM algorithms based on map accuracy.

The evaluation method provides a clear framework for comparing 2D SLAM performance.

Results demonstrate the importance of metric selection in SLAM algorithm assessment.

Abstract

SLAM (Simultaneous Localization and mapping) is one of the most challenging problems for mobile platforms and there is a huge amount of modern SLAM algorithms. The choice of the algorithm that might be used in every particular problem requires prior knowledge about advantages and disadvantages of each algorithm. This paper presents the approach for comparison of SLAM algorithms that allows to find the most accurate one. The accent of research is made on 2D SLAM algorithms and the focus of analysis is 2D map that is built after algorithm performance. Three metrics for evaluation of maps are presented in this paper