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Evaluation and comparison of eight popular Lidar and Visual SLAM algorithms. (arXiv:2208.02063v1 [cs.RO])
Aug. 4, 2022, 1:12 a.m. | Bharath Garigipati, Nataliya Strokina, Reza Ghabcheloo
cs.CV updates on arXiv.org arxiv.org
In this paper, we evaluate eight popular and open-source 3D Lidar and visual
SLAM (Simultaneous Localization and Mapping) algorithms, namely LOAM, Lego
LOAM, LIO SAM, HDL Graph, ORB SLAM3, Basalt VIO, and SVO2. We have devised
experiments both indoor and outdoor to investigate the effect of the following
items: i) effect of mounting positions of the sensors, ii) effect of terrain
type and vibration, iii) effect of motion (variation in linear and angular
speed). We compare their performance in terms …
algorithms arxiv comparison evaluation lidar popular slam visual slam
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