Systematic Evaluation of Selected Algorithms for Sensor Based Localization for a Mini Autonomous Vehicle

摘要

This paper evaluates two different sensor fusionalgorithms and their effect on a localization algorithm inthe Robot Operating System. It also describes algorithms’strengths and weaknesses. In order to evaluate these algorithmsexperiment was conducted in three different scenarios forboth fusion algorithms, results were collected under the sameconditions. The data compares the final robot’s position toground truth.