SLAMICP Library: Accelerating Obstacle Detection in Mobile Robot Navigation via Outlier Monitoring following ICP Localization
Abstract
:1. Introduction
New Contribution
2. Materials and Methods
2.1. Mobile Robot
2.2. Experimentation Area
2.3. Vanilla ICP Algorithm
2.4. Reference LIBICP Library: Implementing the ICP Algorithm
2.5. Reference Trajectory Used in the Experimental Evaluation
2.6. Obstacle Definition
2.7. Performance Metric: Computation Time
3. ICP Implementation: Returning the Outliers
3.1. Reference ICP Matching Library
3.2. ICP Matching Improvement Returning the Outliers
3.3. Software Agent Implemented in the APR-02 Mobile Robot
4. Results
4.1. Obstacle Detection Performance at Different Translational Velocities
4.2. Obstacle Reconstruction
4.3. Improvement Evaluation
5. Discussion and Conclusions
Limitations and Future Work
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Obstacle | Trajectory Experiments | Maximum Number of Outliers Detected | LIBICP [62]: (ms) | This Work: (ms) | Improvement |
---|---|---|---|---|---|
A1 | 3 | 82 | 71.06 | 45.33 | 36.21% |
A2 | 3 | 45 | 69.29 | 43.71 | 36.92% |
A3 | 3 | 24 | 70.48 | 44.43 | 36.96% |
B1 | 3 | 41 | 70.52 | 44.58 | 36.78% |
B2 | 3 | 29 | 68.78 | 43.39 | 36.91% |
B3 | 3 | 43 | 70.49 | 44.64 | 36.67% |
C1 | 3 | 23 | 71.36 | 44.66 | 37.42% |
C2 | 3 | 12 | 70.56 | 44.41 | 37.06% |
C3 | 3 | 44 | 70.52 | 44.45 | 36.97% |
D1 | 3 | 63 | 70.33 | 45.01 | 36.00% |
D2 | 3 | 44 | 70.51 | 44.74 | 36.55% |
D3 | 3 | 123 | 70.35 | 44.61 | 36.59% |
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Clotet, E.; Palacín, J. SLAMICP Library: Accelerating Obstacle Detection in Mobile Robot Navigation via Outlier Monitoring following ICP Localization. Sensors 2023, 23, 6841. https://doi.org/10.3390/s23156841
Clotet E, Palacín J. SLAMICP Library: Accelerating Obstacle Detection in Mobile Robot Navigation via Outlier Monitoring following ICP Localization. Sensors. 2023; 23(15):6841. https://doi.org/10.3390/s23156841
Chicago/Turabian StyleClotet, Eduard, and Jordi Palacín. 2023. "SLAMICP Library: Accelerating Obstacle Detection in Mobile Robot Navigation via Outlier Monitoring following ICP Localization" Sensors 23, no. 15: 6841. https://doi.org/10.3390/s23156841