SLAM in Duckietown Simulator Using the OpenVSLAM Framework
https://doi.org/10.25205/1818-7900-2021-19-4-36-49
Abstract
The article is devoted to evaluating the applicability of SLAM frameworks for the task of mobile robots of the Duckietown project. The paper provides a comparative analysis of existing SLAM algorithms and frameworks and selects frameworks taking into account all the constraints imposed by the project robots. The practical results of testing OpenVSLAM framework on the Duckietown environment and Duckietown simulator data are presented.
Supporting agencies: The work was carried out with the support of JetBrains Research
About the Authors
A. D. Devyatovskaya
Novosibirsk State University
Russian Federation
Russian Federation
Alexandra D. Devyatovskaya, Bachelor Student
Novosibirsk
N. E. Biryuchkov
Novosibirsk State University
Russian Federation
Russian Federation
Nikita E. Biryuchkov, Bachelor Student
Novosibirsk
T. V. Liakh
Novosibirsk State University
Russian Federation
Russian Federation
Tatyana V. Liakh, Candidate of Sciences (Engineering)
Novosibirsk
K. V. Chaika
Saint Petersburg Electrotechnical University; Mobile Robot Algorithms Laboratory JetBrains Research
Russian Federation
Russian Federation
Konstantin V. Chaika, Post-Graduate Student
St. Petersburg
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Review
For citations:
Devyatovskaya A.D., Biryuchkov N.E., Liakh T.V., Chaika K.V. SLAM in Duckietown Simulator Using the OpenVSLAM Framework. Vestnik NSU. Series: Information Technologies. 2021;19(4):36-49. (In Russ.) https://doi.org/10.25205/1818-7900-2021-19-4-36-49
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