Regis Vincent, Benson Limketkai, and Michael Eriksen “Comparison of indoor robot localization techniques in the absence of GPS”, Proc. SPIE 7664, Detection and Sensing of Mines, Explosive Objects, and Obscured Targets XV, 76641Z (29 April 2010); https://doi.org/10.1117/12.849593
Abstract
When available, GPS is the quick and easy solution to localizing a robot. However, because it is often not available (e.g. indoors) or not reliable enough, other techniques, using laser range finders or cameras have been developed that offer better performance. For 2D localization,lLaser range finders are far more precise and easier to work with than cameras. We report here on the performance of several implementations of the main class of localization algorithms that use a laser, Simultaneous Localization And Mapping (SLAM) on the RAWSEEDS benchmark. SRI International’s SLAM system has an RMS error in XY of 0.32m (0.22%). This is the best reported performance on this benchmark.