Comparison of Varied 2D Mapping Approaches by Using Practice-Oriented Evaluation Criteria

TL;DR

This paper compares three different 2D mapping approaches for mobile robot localization, evaluating their applicability based on practical criteria to guide selection for specific applications.

Contribution

It provides a systematic evaluation and comparison of three distinct 2D mapping methods using practice-oriented criteria, aiding in understanding their suitability.

Findings

Terrestrial laser scanning produces highly accurate maps.

Publicly accessible building contours are efficient but less precise.

SLAM-based mapping offers a balance between effort and accuracy.

Abstract

A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware requirements and quality of the resulting maps. To create a better understanding of the applicability of these different approaches to specific applications, this paper evaluates and compares three different mapping approaches based on simultaneous localization and mapping, terrestrial laser scanning as well as publicly accessible building contours.