hector_slam vs gmapping?

hello,

I have -only- laser scanner and i can create maps with both hector_slam and gmaping(with help of laser scan matcher).

I wonder that, when it comes to mapping (or localization), how can i compare hector_slam and gmapping?

Asked by bsk on 2016-06-20 13:47:02 UTC

Comments

I don't think anyone other than you can answer this question. You would need to first define what your performance metric is (speed, accuracy, map quality, ...) before trying to find how to compare the two.

Asked by JustinBlack02 on 2016-06-20 23:08:56 UTC

since i dont have a robot, i cant choose speed as a metric...actually, it can be anything to compare (i need a comparsion no matter what) :) it can be accuracy, map quality or something else. but i dont know if they are comparable and how to do so?

Asked by bsk on 2016-06-21 00:44:03 UTC

Answers

yes. you can try to make two map, and you will find difference. hector_map just only can afford indoor use, if you are outdoor, the map is too small, and it cannot expand. gmapping has no such limit, used indoor and outdoor, but a little Inferior to hector_map in effiency.

Asked by asimay_y on 2016-06-21 03:17:47 UTC

Comments

i can create maps in both and in the indoor enviroment. but my question was how can i compare them? how can i find that difference? with some comparable (more likely numerial) parameters of course...

Asked by bsk on 2016-06-21 03:33:14 UTC

I think there is no formal numerial parameters or tools to compare with each other. Just to see the map update is timely or not, map drawing is exact or not, and care about map drawing effiency, and memory occupied extent.

Asked by asimay_y on 2016-06-21 04:59:10 UTC

i can see that map drawing is exact or not but what is map drawing efficiency? and do you have an idea how can i learn memory usage of these algorithms?

Asked by bsk on 2016-06-21 06:09:49 UTC

drawing efficiency means that how quickly and how correct the map is drawed. you can change the map update frequency to high to see the difference between the two mapping method. memory usage you can use linux command, such as: top free to monitor the memory usage.

Asked by asimay_y on 2016-06-21 22:05:03 UTC