Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 28, 2023 - July 01, 2023
The high computational cost of a typical LiDAR-SLAM makes it difficult to reduce the size and weight of a mobile robot, since a high-performance computer and a large battery are required for long-duration activities.UMap, a cloud-based position estimation system, enables smaller and lighter robots by using a server to perform the computationally expensive position estimation process.In this paper, we propose a method to compensate the accumulated error of odometry using the position estimation results from UMap, with the aim of reducing the size and weight of mobile robots.
