The Realization of Laser SLAM Based on Windows System

被引：0
|
作者：
Lei, Qujiang [1 ]
Liu, Dacai [1 ]
Zhang, Hongda [1 ]
He, Yue [1 ]
Yang, Yang [1 ]
Wang, Weijun [1 ]
机构：
[1] Chinese Acad Sci, Guangzhou Inst Adv Technol, Beijing, Peoples R China
来源：
ELEVENTH INTERNATIONAL CONFERENCE ON MACHINE VISION (ICMV 2018) | 2019年 / 11041卷
关键词：
SLAM; Windows System; Laser Processing; Coordinate Transformation; Gmapping;
D O I：
10.1117/12.2522956
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Laser SLAM can be implemented using ROS and Ubuntu system. However, it cannot be run in Windows operating system which is more stable than Ubuntu. To implement the laser SLAM in Windows system, the main program of laser SLAM in ROS is carefully analyzed and modified to make it adapt to Windows system. The main programs of laser processing, coordinate transformation and map construction are rewritten and reorganized. To verify the effectiveness of our work, experiments were conducted in real-world environments. The results of experiments validated that laser SLAM can be implemented in Windows system by rewriting and reorganizing these main programs.
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页数：8
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