Verification of Slam Methods on Ros Platform

Abstract

The paper deals with the problem of experimental vehicle concept for 3D SLAM method based on data from Kinect device. One part of the paper describes the design, implementation and description of the physical model of the experimental vehicle. The second describes an odometry representation with a mathematical model of the Ackerman steering as well. Next describes the ROS platform, which was determined to solve complex robotic tasks. Last part of the paper contains to the evaluation of the results of 3D mapping and localization in unknown space.

Keywords

• SLAM
• Kinect
• Mapping
• Localization
• ROS
• DSP