LSRC D-Wing

The D-Wing of LSRC is a typical office environment, approximately 16m x 14m in size.  We include an annotated map (from DP-SLAM 1.0) below to help disambiguate some features.  Scroll down for more.



Log File
Algorithm
Particles
Grid Resolution
Maps (Click to enlarge) Comments
Loop 5
DP-SLAM 1.0
1000
3cm

Loop 5 DP-SLAM 1.0
 (Single Map)
1000
3cm
Loop doesn't close
properly because
errors accumulate
in single map.
Loop 5
DP-SLAM 2.0
3000
3cm


Loop 5
DP-SLAM 2.0
5500
4cm

Coarser resolution requires
more particles.
Loop 6
DP-SLAM 1.0 9000
3cm


Loop 6
DP-SLAM 2.0
3000
3cm


Loop 6
DP-SLAM 2.0
4000
4cm


Loop 9 DP-SLAM 1.0
8000
3cm


Loop 9
DP-SLAM 2.0
3000
3cm


Loop 9 DP-SLAM 2.0 3000 4cm
 

Loop 9 DP-SLAM 2.0 3000 5cm
 

Loop 10
DP-SLAM 2.0 3000
3cm


Loop 10 DP-SLAM 2.0 4000
4cm


Loop 10 DP-SLAM 2.0 4500
5cm