2D SLAM Quality Evaluation Methods
This work addresses the need for systematic evaluation methods to compare 2D SLAM algorithms for mobile platforms, but it appears incremental as it focuses on existing metrics for map quality.
The paper tackles the problem of selecting the most accurate 2D SLAM algorithm by presenting three metrics for evaluating the quality of 2D maps built by these algorithms, enabling comparison without specifying concrete numerical results.
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