Comparison of Varied 2D Mapping Approaches by Using Practice-Oriented Evaluation Criteria

A variety of mapping approaches are available that Localization is one of the most crucial tasks for mobile can be employed to create such maps - with varying degrees robots. Being able to determine the robot's location is of effort, hardware requirements and quality of the vital for safe navigation and thus the success of the overall resulting maps. To create a better understanding of the process. For this, robots typically use a 2D map that shows applicability of these different approaches to specific applications, the contours of the respective area visible to the robot. The this paper evaluates and compares three different robot then matches its sensor data with these contours to mapping approaches based on simultaneous localization compute its position. An increased resemblance to reality and mapping, terrestrial laser scanning as well as and higher levels of detail lead to a higher level of precision publicly accessible building contours. However, the external hardware introduces additional acquisition costs and the mapping process can be time-consuming and may require extensive postprocessing effort. Lastly, approaches such as [4] make use of publicly accessible building contours (PABC) extracted from satellite data. These approaches require a low amount of effort and no specific hardware in their process.