EVALUATION OF THE EFFECT OF LASER MAX DISTANCE PARAMETER VARIATIONS IN HECTOR SLAM ON THE ACCURACY OF 2D MAPPING IN EXTERNAL ENVIRONMENTS

• Main Author: Martin, Edward
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/83712
• Institution: Institut Teknologi Bandung

Developed by the Hector (Heterogeneous Cooperating Team of Robots) team at TU Darmstadt, Hector SLAM is an algorithm frequently used for indoor mapping. Its reliance solely on LiDAR data, fast data processing, computational efficiency, and high resolution make Hector SLAM one of the most widely used SLAM algorithms. However, Hector SLAM also has its drawbacks, such as challenges in dynamic environments and a lack of robust loop closure capabilities, which can cause map drift over long distances. Additionally, the lack of landmarks in very open environments like the outdoors exacerbates mapping accuracy issues. This final project evaluates the parameter of the maximum laser detection range on the Hector SLAM algorithm for outdoor mapping use. Using the SICK NAV310 as the LiDAR data source, the evaluation is conducted on 10 variations of maximum laser distance (laser max distance), ranging from 10, 20, 30, up to 100 meters. Accuracy levels are assessed through pixel-to-pixel matching comparison with a ground truth map. The experimental results show that accuracy increases drastically from 10 to 40 meters, and then tends to stabilize around 90% up to 100 meters. Keywords: Hector SLAM, LiDAR, mapping, outdoor, max distance.