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hector_slam vs gmapping?

asked 2016-06-20 13:47:02 -0600

bsk gravatar image


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?

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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.

JustinBlack02 gravatar image JustinBlack02  ( 2016-06-20 23:08:56 -0600 )edit

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?

bsk gravatar image bsk  ( 2016-06-21 00:44:03 -0600 )edit

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answered 2016-06-21 03:17:47 -0600

asimay_y gravatar image

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.

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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...

bsk gravatar image bsk  ( 2016-06-21 03:33:14 -0600 )edit

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.

asimay_y gravatar image asimay_y  ( 2016-06-21 04:59:10 -0600 )edit

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?

bsk gravatar image bsk  ( 2016-06-21 06:09:49 -0600 )edit

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: topfree to monitor the memory usage.

asimay_y gravatar image asimay_y  ( 2016-06-21 22:05:03 -0600 )edit

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Asked: 2016-06-20 13:47:02 -0600

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Last updated: Jun 21 '16