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1 | initial version |
The accuracy of SLAM mainly depends on the range of the sensor
, size of the environment compared to sensor Field of view (FoV)
and uncertainty of motion and measurements
. Generally, Kinect sensor is a low FOV (57 degrees) and short-range sensor (max 5.5m).
Gmapping builds locally consistence map using scan matching and builds a globally consistent map by fusing Rao-blackwellized particle filter. It needs some features ( objects) in the FoV to build a consistent map. If enough features are not available in sensor FoV for few frames, the local estimation will not give a good accuracy.
Also, the noise of the sensor is a quadratic function with the range of measurements. This also leads the wrong estimation of local maps. Therefore, Kinect can provide a promising result with Gmapping for small-scale environments.
You can use a higher number of particles to get more accurate maps. But, very large number of particles also may lead to diverging the estimation, because, there a higher probability to pick particles with low weights at resampling step.
2 | No.2 Revision |
The accuracy of SLAM mainly depends on the range of the sensor
, size of the environment compared to sensor Field of view (FoV)
and uncertainty of motion and measurements
. Generally, Kinect sensor is a low FOV (57 degrees) and short-range sensor (max 5.5m).
Gmapping builds locally consistence map using scan matching and builds a globally consistent map by fusing Rao-blackwellized particle filter. It needs some features ( objects) in the FoV to build a consistent map. If enough features are not available in sensor FoV for few frames, the local estimation will not give a good accuracy.
Also, the noise of the sensor is a quadratic function with the range of measurements. This also leads the wrong estimation of local maps. Therefore, Kinect can provide a promising result with Gmapping for small-scale environments.
You can use a higher number of particles to get more accurate maps. But, very large number of particles also may lead to diverging diverge the estimation, because, there a higher probability to pick particles with low weights at resampling step. step.