ANALYSIS OF THE EFFECT OF LIDAR MOVEMENT SPEED ON THE QUALITY OF 2D ENVIRONMENTAL MAPPING RESULTS USING THE HECTOR SLAM ALGORITHM

• Main Author: Brandon S.S., Ariel
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/83639
• Institution: Institut Teknologi Bandung

Simultaneous Localization and Mapping (SLAM) is a method that allows an agent to build and update a representation of an environment and to determine its location within that built representation. Light Detection and Ranging (LiDAR) is a distance-measuring sensor often used as an agent in SLAM. Hector SLAM is one algorithm that addresses problems in SLAM by leveraging the scanning capability of LiDAR to obtain real-time estimates of LiDAR movement in the map at a high update rate. Research on the Hector SLAM algorithm has been extensively conducted, typically indoors where the speed of LiDAR movement is not further considered in terms of its impact on the mapping results obtained. Therefore, research will be conducted to understand and analyze how the speed of LiDAR movement affects the mapping results of the Hector SLAM algorithm. Experiments are designed in two stages, namely without and with configuration adjustments on the maximum scanning range to be applied in the Hector SLAM algorithm. The mapping results will be compared to environment representation images using pixel matching methods to obtain accuracy values, Root Mean Square (RMSE), and standard deviation in determining the quality of mapping results. Increases in the speed of LiDAR movement show a decrease in accuracy values as well as increases in RMSE and standard deviation. In implementation, high LiDAR movement speeds can cause the Hector SLAM algorithm to fail in estimating the LiDAR pose in the map due to desynchronization between the pose in the map and in the real world, and the algorithm's inability to recognize movements made by the LiDAR in the real world, especially rotational movements on turns. Keywords: SLAM, Hector SLAM, mapping, LiDAR, movement speed