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[
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r
y
c
o
n
t
r
o
l,
is
o
b
tain
ed
b
y
in
teg
r
atin
g
th
e
v
elo
city
v
ec
to
r
with
th
e
m
ea
s
u
r
em
e
n
t
m
o
d
el
in
a
d
eter
m
in
is
tic
m
an
n
e
r
,
wh
ich
r
esu
lts
in
an
ac
cu
m
u
latio
n
o
f
m
ea
s
u
r
em
en
t
er
r
o
r
s
if
o
n
e
m
ea
s
u
r
em
e
n
t
er
r
o
r
o
cc
u
r
s
.
I
n
co
n
tr
ast
to
th
e
n
av
ig
atio
n
m
eth
o
d
with
th
e
s
im
u
ltan
eo
u
s
lo
ca
lizatio
n
an
d
m
ap
p
in
g
(
SLA
M)
m
eth
o
d
u
s
es
a
p
r
o
b
a
b
ilis
tic
m
o
d
el
wh
er
e
m
ea
s
u
r
em
en
t
er
r
o
r
s
will
n
o
t
ac
cu
m
u
late
if
o
n
e
m
ea
s
u
r
em
e
n
t
er
r
o
r
o
cc
u
r
s
[
1
1
]
.
I
n
ad
d
itio
n
to
th
e
n
av
ig
atio
n
m
eth
o
d
,
wh
ich
is
th
e
f
ee
d
b
ac
k
n
ee
d
e
d
to
co
n
tr
o
l
tr
ac
k
in
g
o
n
th
e
tr
ajec
to
r
y
,
it
also
d
ep
e
n
d
s
o
n
th
e
c
o
n
tr
o
l
m
eth
o
d
u
s
ed
.
Alth
o
u
g
h
s
ev
er
al
m
eth
o
d
s
h
av
e
b
ee
n
p
r
o
p
o
s
ed
,
th
e
m
o
d
el
an
d
en
v
ir
o
n
m
e
n
t
s
till
u
s
e
a
lin
ea
r
m
o
d
el
with
a
s
tatic
en
v
ir
o
n
m
en
t
b
y
ig
n
o
r
in
g
n
o
n
lin
ea
r
ity
an
d
ch
a
n
g
in
g
p
ar
am
eter
s
.
I
n
f
ac
t,
th
e
AW
MR
en
v
ir
o
n
m
en
t
is
a
d
y
n
a
m
ic
e
n
v
ir
o
n
m
en
t
with
n
o
n
lin
ea
r
ity
an
d
ch
an
g
in
g
p
ar
am
eter
s
,
s
o
it
is
n
ec
ess
ar
y
to
d
ev
elo
p
n
o
n
lin
ea
r
co
n
tr
o
ls
,
s
u
ch
as
r
o
b
u
s
t
co
n
tr
o
ls
[
1
2
]
o
r
in
tellig
en
t
co
n
t
r
o
ls
[
1
3
]
,
w
h
ich
ca
n
o
v
er
c
o
m
e
u
n
ce
r
tain
ty
in
th
e
AW
MR e
n
v
ir
o
n
m
en
t.
Nav
ig
atio
n
is
a
p
r
o
b
lem
to
g
et
in
f
o
r
m
atio
n
ab
o
u
t
th
e
s
u
r
r
o
u
n
d
in
g
en
v
ir
o
n
m
en
t,
esp
e
cially
th
e
p
o
s
itio
n
o
f
th
e
AW
MR
an
d
s
u
r
r
o
u
n
d
in
g
o
b
jects
th
at
m
u
s
t
b
e
k
n
o
wn
b
ef
o
r
e
m
o
v
i
n
g
f
r
o
m
o
n
e
p
o
in
t
to
an
o
th
er
.
I
n
g
en
e
r
al,
th
e
n
a
v
ig
a
tio
n
s
y
s
tem
o
n
AW
MR u
s
e
s
t
h
e
d
ea
d
-
r
e
ck
o
n
i
n
g
m
eth
o
d
th
r
o
u
g
h
th
e
s
p
ee
d
d
ata
f
r
o
m
ea
ch
wh
ee
l.
H
o
wev
er
,
it
h
as
lim
itatio
n
s
th
at
it
ca
n
o
n
ly
b
e
u
s
ed
in
s
tatic
en
v
ir
o
n
m
e
n
ts
an
d
er
r
o
r
s
th
at
ac
cu
m
u
late
wh
en
o
n
e
m
ea
s
u
r
em
en
t
er
r
o
r
o
cc
u
r
s
d
u
e
to
its
d
eter
m
in
is
tic
n
atu
r
e
[
1
4
]
.
L
aser
s
en
s
o
r
s
,
s
u
ch
as
lig
h
t
d
etec
tio
n
an
d
r
an
g
in
g
(
L
iDAR
)
,
ar
e
d
is
tan
ce
d
etec
tio
n
s
en
s
o
r
s
b
ased
o
n
r
ef
lecte
d
i
n
f
r
ar
ed
,
wh
ich
a
r
e
an
o
p
tio
n
with
lig
h
t
co
m
p
u
tatio
n
,
b
u
t
h
av
e
lim
itatio
n
s
if
th
e
r
o
o
m
h
as
o
p
en
s
ec
tio
n
s
with
wid
e
d
is
tan
ce
s
.
Of
th
e
s
ev
er
al
s
p
ec
if
ic
u
s
es
o
f
th
ese
s
en
s
o
r
s
,
co
m
b
in
in
g
m
ea
s
u
r
em
en
t
m
eth
o
d
s
with
th
e
u
s
e
o
f
s
to
ch
asti
c
SLAM
is
an
o
p
tio
n
[
1
5
]
.
Ap
ar
t
f
r
o
m
d
ea
d
r
ec
k
o
n
in
g
,
v
ar
io
u
s
s
en
s
o
r
s
an
d
m
eth
o
d
s
h
av
e
b
ee
n
d
e
v
elo
p
e
d
,
s
u
ch
as
ca
m
er
a
s
en
s
in
g
,
g
lo
b
al
p
o
s
itio
n
in
g
s
y
s
tem
(
GPS),
an
d
lig
h
t
d
is
tan
c
e
an
d
r
an
g
i
n
g
(
L
iDAR
)
.
Sen
s
in
g
with
a
ca
m
er
a
is
o
n
e
o
f
th
e
n
atu
r
al
n
a
v
ig
atio
n
,
lik
e
h
u
m
an
s
,
ca
n
s
ee
v
is
u
als
wid
ely
,
b
u
t
to
p
r
o
ce
s
s
v
is
u
al
in
f
o
r
m
atio
n
in
to
p
o
s
itio
n
al
in
f
o
r
m
atio
n
,
b
o
th
AW
M
R
p
o
s
itio
n
s
an
d
o
b
jects
in
th
e
s
u
r
r
o
u
n
d
i
n
g
e
n
v
ir
o
n
m
en
t
ar
e
r
eq
u
ir
e
d
to
h
av
e
h
i
g
h
c
o
m
p
u
tatio
n
[
1
6
]
.
Nav
ig
atio
n
u
s
in
g
GPS
is
an
o
t
h
er
o
p
tio
n
t
o
g
et
a
g
l
o
b
al
p
o
s
itio
n
,
b
u
t
GPS
h
as
lim
ited
ac
cu
r
ac
y
f
o
r
s
h
o
r
t
d
is
tan
ce
s
o
f
less
th
an
2
m
eter
s
an
d
th
e
ab
s
en
ce
o
f
th
e
ab
ilit
y
to
d
etec
t
th
e
en
v
ir
o
n
m
en
t
as
a
wh
o
le
[
1
7
]
.
L
iDAR
is
an
o
th
er
o
p
tio
n
f
o
r
n
a
v
ig
atio
n
b
y
u
tili
zin
g
th
e
r
ef
lectio
n
o
f
th
e
em
itted
in
f
r
ar
e
d
lig
h
t.
L
iDAR
g
ets
r
ef
lectio
n
s
f
r
o
m
o
b
jects
an
d
walls
in
t
h
e
s
u
r
r
o
u
n
d
in
g
e
n
v
ir
o
n
m
en
t,
w
h
ich
will
b
e
v
er
y
s
u
itab
le
f
o
r
d
y
n
a
m
ic
in
d
o
o
r
en
v
ir
o
n
m
e
n
ts
,
b
u
t
h
as
lim
itatio
n
s
if
th
er
e
is
o
n
e
p
o
in
t
o
f
th
e
r
o
o
m
th
at
is
o
p
e
n
o
r
with
o
u
t
wall
b
o
u
n
d
a
r
ies.
T
h
is
r
esu
lted
in
th
e
n
ee
d
f
o
r
a
s
p
ec
ial
tech
n
i
q
u
e
in
n
av
ig
atio
n
in
a
d
y
n
am
ic
en
v
ir
o
n
m
en
t.
SLA
M,
o
r
s
im
u
ltan
eo
u
s
lo
c
aliza
tio
n
an
d
m
a
p
p
in
g
,
is
a
n
av
i
g
atio
n
tech
n
iq
u
e
b
y
m
ap
p
in
g
an
d
p
o
s
itio
n
in
g
s
im
u
ltan
eo
u
s
ly
.
I
n
SLAM
,
th
er
e
ar
e
two
m
et
h
o
d
s
th
at
ar
e
r
u
n
s
im
u
ltan
eo
u
s
l
y
,
n
am
ely
th
e
f
o
r
m
atio
n
o
f
a
g
lo
b
al
m
ap
b
ased
o
n
in
f
o
r
m
atio
n
f
r
o
m
th
e
p
o
s
itio
n
d
ata
o
f
o
b
jects
an
d
walls
b
y
th
e
s
en
s
o
r
an
d
th
e
lo
ca
lizatio
n
m
eth
o
d
,
n
am
ely
o
b
tain
in
g
th
e
p
o
s
itio
n
o
f
th
e
AW
MR
g
lo
b
al
co
o
r
d
in
ates o
n
th
e
m
ap
.
T
h
e
o
cc
u
p
a
n
cy
g
r
id
is
o
n
e
o
f
th
e
m
eth
o
d
s
f
o
r
o
b
tain
in
g
a
g
lo
b
a
l
m
ap
,
a
n
d
in
th
e
lo
ca
lizatio
n
m
eth
o
d
,
th
er
e
a
r
e
s
ev
er
al
m
et
h
o
d
s
,
n
a
m
ely
s
ca
n
m
atch
in
g
[
1
0
]
an
d
p
ar
ticle
f
ilter
[
1
6
]
.
T
h
e
s
ca
n
m
atch
in
g
m
eth
o
d
o
n
ly
r
elies
o
n
in
f
o
r
m
atio
n
d
ata
f
r
o
m
L
iDAR
,
s
o
it
h
as
lo
w
ac
cu
r
ac
y
b
ec
au
s
e
th
er
e
is
n
o
d
ata
c
o
r
r
ec
tio
n
f
r
o
m
o
t
h
er
s
en
s
o
r
s
,
wh
er
e
L
iDAR
h
as
lim
itatio
n
s
in
r
o
o
m
s
th
at
h
av
e
o
p
en
ar
ea
s
with
o
u
t
d
iv
id
in
g
walls.
Par
ticle
Fil
ter
o
f
f
er
s
a
co
m
b
in
atio
n
o
f
s
to
ch
asti
c
d
ata
b
ec
au
s
e,
lik
e
th
e
Kalm
a
n
f
ilter
,
th
er
e
ar
e
m
o
tio
n
m
o
d
els
(
p
r
ed
icted
)
an
d
s
en
s
o
r
m
o
d
els
(
m
ea
s
u
r
ed
)
.
I
n
th
e
m
o
tio
n
m
o
d
el
s
tag
e,
a
k
in
em
atic
m
o
d
el
with
wh
ee
l
s
p
ee
d
d
ata
is
u
s
ed
,
wh
ile
in
th
e
m
ea
s
u
r
ed
s
tag
e,
m
ea
s
u
r
em
e
n
t
d
ata
f
r
o
m
L
iDAR
is
u
s
ed
.
T
h
e
p
u
r
p
o
s
e
o
f
th
is
r
esear
ch
is
to
d
ev
elo
p
a
n
ac
cu
r
ate
AW
MR
n
av
ig
atio
n
s
y
s
tem
m
o
d
el
b
ased
o
n
th
e
SLAM
alg
o
r
ith
m
i
n
a
d
y
n
am
ic
h
o
s
p
ital
en
v
ir
o
n
m
en
t
.
Fu
r
th
er
m
o
r
e,
it
is
c
o
m
b
in
e
d
with
a
tr
ajec
to
r
y
co
n
tr
o
l
s
y
s
tem
with
a
r
o
b
u
s
t
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l
m
eth
o
d
th
at
wo
r
k
s
ad
ap
tiv
el
y
to
h
an
d
le
n
o
n
lin
ea
r
ity
an
d
p
ar
am
eter
u
n
ce
r
tain
ty
an
d
ca
n
f
o
llo
w
tr
ajec
to
r
y
c
h
an
g
es
w
h
en
in
a
d
y
n
am
ic
e
n
v
ir
o
n
m
en
t.
W
ith
th
is
r
esear
ch
,
d
ev
elo
p
in
g
a
g
o
o
d
n
av
ig
atio
n
an
d
tr
ajec
to
r
y
m
eth
o
d
f
o
r
AW
MR,
in
th
e
f
u
tu
r
e,
it c
an
b
e
a
p
p
lied
to
p
r
o
d
u
ce
an
AW
M
R
p
latf
o
r
m
f
o
r
m
u
ltip
u
r
p
o
s
e.
2.
M
E
T
H
O
D
T
h
e
p
r
o
p
o
s
ed
co
n
tr
o
l
s
y
s
te
m
,
as
s
h
o
wn
in
Fig
u
r
e
1
,
s
tar
ts
with
a
n
a
v
ig
atio
n
m
o
d
u
le
th
at
is
r
esp
o
n
s
ib
le
f
o
r
d
eter
m
in
in
g
th
e
r
o
b
o
t'
s
p
o
s
itio
n
in
r
elati
o
n
to
th
e
g
lo
b
al
c
o
o
r
d
in
ate
s
y
s
tem
.
Acc
u
r
ate
lo
ca
lizatio
n
is
ess
en
tial
to
en
ab
le
au
to
n
o
m
o
u
s
b
eh
av
i
o
r
,
esp
ec
ially
in
d
y
n
am
ic
an
d
n
o
n
-
s
tr
u
ctu
r
e
d
en
v
ir
o
n
m
en
ts
.
T
h
is
m
o
d
u
le
t
r
an
s
lates
s
en
s
o
r
d
ata
to
c
r
ea
te
s
p
atial
awa
r
en
ess
an
d
m
atc
h
th
e
r
o
b
o
t
t
o
th
e
f
ea
tu
r
es
o
f
th
e
en
v
i
r
o
n
m
e
n
t
n
ee
d
e
d
f
o
r
ac
cu
r
ate
m
ap
p
in
g
.
I
n
th
is
f
r
am
ew
o
r
k
,
th
e
v
elo
city
v
ec
t
o
r
s
ar
e
ca
lcu
lated
o
n
th
e
b
asis
o
f
m
o
tio
n
in
p
u
ts
,
an
d
th
e
p
o
s
itio
n
esti
m
atio
n
is
d
o
n
e
b
y
SLAM
in
teg
r
ated
with
L
iDAR
.
T
h
e
SLAM
m
eth
o
d
im
p
r
o
v
es
g
lo
b
al
co
n
s
is
ten
cy
b
y
co
r
r
ec
tin
g
th
e
d
r
if
t
in
h
er
en
t
in
o
d
o
m
etr
y
m
eth
o
d
s
.
T
h
e
co
m
b
in
atio
n
o
f
th
e
s
p
ee
d
d
ata
an
d
th
e
co
r
r
ec
ted
p
o
s
itio
n
al
esti
m
ates
p
r
o
v
id
es
a
s
o
lid
a
n
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
3
2
2
-
33
1
324
r
eliab
le
b
asis
f
o
r
th
e
AW
MR
t
o
p
er
f
o
r
m
lo
ca
lizatio
n
an
d
m
a
p
p
in
g
e
f
f
icien
tly
.
T
h
e
AW
MR
m
o
d
el
is
a
m
o
b
il
e
r
o
b
o
t
m
o
d
el
with
two
wh
ee
ls
,
co
n
s
is
tin
g
o
f
a
k
in
em
atic
m
o
d
el
an
d
a
d
y
n
a
m
ic
m
o
d
el,
wh
er
e
th
e
d
y
n
a
m
ic
m
o
d
el
h
as b
ee
n
d
escr
ib
ed
in
(
1
)
, w
ith
th
e
k
in
em
atic
m
o
d
el
d
escr
ib
ed
in
th
e
e
q
u
atio
n
.
[
̇
̇
̇
]
=
[
c
os
(
)
0
s
in
(
)
0
0
1
]
[
]
(
1
)
H
er
e
,
is
th
e
tr
an
s
lat
io
n
al
s
p
ee
d
o
f
th
e
r
o
b
o
t
an
d
ω
is
th
e
r
o
tatio
n
al
s
p
ee
d
.
,
d
en
o
te
th
e
C
ar
tesi
a
n
co
o
r
d
in
ates
o
f
t
h
e
r
o
b
o
t
in
th
e
g
lo
b
al
r
ef
er
en
ce
f
r
a
m
e.
is
t
h
e
r
o
b
o
t’
s
o
r
ien
tatio
n
a
n
g
le
with
r
esp
ec
t
to
th
e
g
lo
b
al
f
r
am
e.
̇
,
̇
,
̇
r
ep
r
esen
t
th
e
ti
m
e
d
er
i
v
ativ
es
o
f
th
e
r
o
b
o
t’
s
p
o
s
itio
n
an
d
o
r
ien
tatio
n
,
i.e
.
,
its
v
elo
city
co
m
p
o
n
en
ts
in
th
e
g
lo
b
al
f
r
a
m
e.
E
q
u
atio
n
(
1
)
d
escr
ib
es
h
o
w
th
e
r
o
b
o
t'
s
p
o
s
e
ch
an
g
es
o
v
er
tim
e
in
r
esp
o
n
s
e
to
its
co
n
tr
o
l
in
p
u
ts
,
an
d
.
B
y
tr
an
s
f
o
r
m
in
g
th
e
r
o
b
o
t'
s
lo
ca
l
f
r
am
e
-
wh
e
r
e
v
el
o
cities
ar
e
d
ef
in
e
d
-
to
t
h
e
g
lo
b
al
f
r
am
e
,
th
e
m
atr
ix
o
n
th
e
r
ig
h
t
-
h
a
n
d
s
id
e
m
ak
es
s
u
r
e
th
at
th
e
m
o
tio
n
r
esp
ec
ts
th
e
r
o
b
o
t'
s
cu
r
r
en
t
o
r
ien
tatio
n
,
.
Fo
r
h
ig
h
-
lev
el
p
ath
p
lan
n
in
g
a
n
d
co
n
tr
o
l
in
s
tr
u
ctu
r
ed
e
n
v
ir
o
n
m
en
ts
,
th
is
m
o
d
el
is
p
e
r
f
ec
t
b
ec
au
s
e
it a
s
s
u
m
es n
o
n
-
s
lip
p
i
n
g
an
d
p
u
r
e
r
o
llin
g
co
n
d
itio
n
s
.
Fig
u
r
e
1
.
AW
MR n
av
ig
atio
n
s
ch
em
e
2
.
1
.
G
o
o
g
le
c
a
rt
o
g
ra
ph
er
SL
AM
T
h
e
ca
r
to
g
r
ap
h
e
r
s
y
s
tem
co
n
s
is
ts
o
f
two
p
ar
ts
:
lo
ca
l
o
p
tim
iz
atio
n
an
d
g
lo
b
al
o
p
tim
izatio
n
.
T
h
e
lo
ca
l
o
p
tim
izatio
n
r
u
n
s
th
e
ap
p
r
o
p
r
iate
p
ar
t
o
f
t
h
e
L
iDAR
s
ca
n
f
r
am
e
an
d
its
s
u
b
m
ap
s
,
af
ter
w
h
ich
th
e
s
u
b
m
ap
is
o
p
tim
ized
[
8
]
,
[
1
5
]
.
Me
an
wh
ile,
g
lo
b
al
o
p
tim
izatio
n
p
e
r
f
o
r
m
s
g
lo
b
al
m
ap
o
p
tim
izatio
n
ac
co
r
d
in
g
to
th
e
p
o
s
itio
n
al
r
elatio
n
s
h
ip
b
etwe
en
f
r
am
e
s
ca
n
s
af
ter
f
in
d
in
g
a
clo
s
ed
lo
o
p
f
r
am
e
s
ca
n
.
L
o
ca
l
o
p
tim
izatio
n
is
th
e
p
r
o
ce
s
s
o
f
m
atch
in
g
L
iDAR
f
r
am
e
s
ca
n
s
to
s
u
b
m
ap
s
,
a
n
d
iter
ativ
ely
alig
n
in
g
L
iDA
R
f
r
am
e
s
ca
n
s
an
d
r
ef
er
en
ce
s
f
r
o
m
s
u
b
m
ap
f
r
am
es
to
cr
ea
te
s
u
b
m
ap
s
.
Mu
ltip
le
iter
atio
n
s
o
f
th
e
f
r
am
e
s
ca
n
cr
ea
te
a
g
r
id
s
u
b
m
a
p
o
f
p
r
o
b
ab
ilit
y
r
eso
lu
tio
n
r
,
wit
h
ea
ch
s
y
s
tem
g
r
id
p
o
in
t
d
eter
m
in
in
g
th
e
co
r
r
esp
o
n
d
in
g
p
i
x
e
l.
E
ac
h
tim
e
a
n
ew
s
ca
n
is
en
ter
ed
in
t
o
th
e
p
r
o
b
a
b
ilit
y
g
r
id
,
a
s
et
o
f
h
it
o
r
m
is
s
g
r
id
p
o
in
ts
is
ca
lcu
lated
.
B
e
f
o
r
e
s
en
d
i
n
g
a
m
ap
s
ca
n
to
a
s
u
b
m
a
p
,
th
e
p
o
s
itio
n
o
f
th
e
s
ca
n
f
r
a
m
e
is
o
p
tim
ize
d
b
y
th
e
ce
r
es
a
p
p
licatio
n
i
n
t
h
e
cu
r
r
en
t
s
u
b
m
a
p
,
an
d
th
e
s
ca
n
p
o
in
t
m
ap
p
i
n
g
i
s
s
u
p
er
im
p
o
s
ed
b
y
n
o
n
lin
ea
r
least
s
q
u
ar
es
o
p
tim
izatio
n
,
an
d
th
e
to
tal
v
alu
e
o
f
th
e
s
ca
n
r
ea
ch
es
th
e
h
it
v
alu
e.
Af
ter
ch
an
g
in
g
th
e
p
o
s
itio
n
an
d
p
air
in
g
with
th
e
p
r
o
b
a
b
ilit
y
v
alu
es
i
n
th
e
s
u
b
m
ap
,
ev
e
r
y
p
lace
t
h
at
m
atc
h
es th
e
v
iew
s
h
o
u
ld
h
av
e
a
h
ig
h
p
r
o
b
ab
ilit
y
o
f
b
ein
g
h
it.
Sin
c
e
th
e
least sq
u
ar
es
p
r
o
b
lem
is
a
lo
ca
l
o
p
tim
izatio
n
p
r
o
b
lem
,
a
g
o
o
d
in
itial
v
a
lu
e
will
h
av
e
a
lar
g
e
in
f
lu
en
ce
o
n
th
e
s
o
lu
tio
n
.
T
h
er
ef
o
r
e,
th
e
u
s
e
o
f
I
MU
[
1
8
]
o
r
o
d
o
m
etr
y
ca
n
b
e
u
s
ed
t
o
p
r
o
v
id
e
a
v
ar
ia
b
le
r
o
tatio
n
o
r
p
o
s
itio
n
m
atch
in
g
s
ca
n
f
o
r
th
e
i
n
itial in
itializatio
n
v
alu
e.
Glo
b
al
o
p
tim
izatio
n
is
ac
h
iev
ed
th
r
o
u
g
h
clo
s
ed
lo
o
p
d
etec
tio
n
.
B
ec
au
s
e
ea
ch
L
iDAR
f
r
am
e
s
ca
n
o
n
ly
m
atch
es
th
e
s
u
b
m
ap
th
a
t
co
n
tain
s
th
e
m
o
s
t
r
ec
en
t
f
r
am
e
s
ca
n
,
e
r
r
o
r
s
b
u
ild
u
p
s
lo
wly
.
T
o
elim
in
ate
ac
cu
m
u
lated
er
r
o
r
s
,
th
e
s
p
a
r
s
e
p
o
s
e
ad
ju
s
tm
en
t
(
SP
A)
m
et
h
o
d
was
u
s
ed
to
o
p
tim
ize
all
s
ca
n
p
o
s
itio
n
s
an
d
s
u
b
m
ap
s
[
1
1
]
.
T
h
e
p
o
s
itio
n
s
o
f
th
e
L
iDAR
s
ca
n
f
r
am
es
e
n
ter
ed
in
t
h
e
s
u
b
m
a
p
ar
e
s
to
r
ed
i
n
m
em
o
r
y
.
W
h
en
a
s
u
b
m
ap
is
cr
ea
ted
,
f
r
am
e
s
ca
n
s
an
d
co
r
r
esp
o
n
d
in
g
s
u
b
m
a
p
s
ar
e
ca
lcu
lated
f
o
r
clo
s
ed
l
o
o
p
d
etec
tio
n
.
All
m
atch
in
g
s
ca
n
s
ar
e
p
er
f
o
r
m
e
d
o
n
th
e
b
ac
k
e
n
d
,
an
d
o
n
ce
a
g
o
o
d
clo
s
ed
-
lo
o
p
m
atch
is
f
o
u
n
d
,
it
is
ad
d
e
d
to
th
e
g
lo
b
al
o
p
tim
izatio
n
[
1
9
]
.
T
h
e
alg
o
r
ith
m
f
lo
w
o
f
th
e
m
ap
p
i
n
g
s
y
s
tem
m
eth
o
d
is
illu
s
tr
ated
in
Fig
u
r
e
2
.
T
h
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Lo
ca
liz
a
tio
n
a
n
d
ma
p
p
in
g
o
f
a
u
to
n
o
m
o
u
s
w
h
ee
l m
o
b
ile
r
o
b
o
t
u
s
in
g
Go
o
g
le
ca
r
to
g
r
a
p
h
er
(
Qo
r
y
Hid
a
ya
ti
)
325
en
v
ir
o
n
m
en
tal
m
a
p
m
o
d
el,
o
n
th
e
e
n
v
ir
o
n
m
en
tal
m
ap
,
is
m
o
d
eled
with
d
o
ts
o
n
th
e
o
cc
u
p
atio
n
g
r
i
d
,
with
th
e
ac
tu
al
m
ap
o
r
i
g
in
atin
g
f
r
o
m
th
e
UM
M’
s
h
o
s
p
ital.
Nav
ig
a
tio
n
d
esig
n
,
in
t
h
is
s
ec
tio
n
,
d
esig
n
s
th
e
SLAM
alg
o
r
ith
m
wh
ich
u
tili
ze
s
th
e
d
ata
m
o
d
el
f
r
o
m
L
iDAR
an
d
th
e
d
esig
n
ed
en
v
ir
o
n
m
en
t m
o
d
e
l,
wh
ich
is
a
m
ap
o
f
s
ev
er
al
r
o
o
m
s
o
f
UM
M’
s
h
o
s
p
ital.
Fig
u
r
e
2
.
Go
o
g
le
ca
r
t
o
g
r
ap
h
er
s
ch
em
e
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
is
r
esear
ch
was
ca
r
r
ied
o
u
t
with
th
r
ee
ty
p
es
o
f
test
s
,
s
u
ch
as
test
in
g
o
b
ject
d
etec
ti
o
n
ar
o
u
n
d
L
iDAR
to
d
eter
m
in
e
th
e
d
is
tan
ce
o
f
o
b
jects
th
at
ca
n
b
e
d
etec
ted
b
y
L
iDAR
.
T
h
e
n
ex
t
te
s
t
is
m
ak
in
g
a
m
a
p
an
d
p
o
s
itio
n
in
g
/lo
ca
lizatio
n
a
cc
u
r
ac
y
i
n
o
n
e
test
r
o
o
m
.
Po
s
itio
n
in
g
test
in
g
in
cl
u
d
es
p
o
s
itio
n
an
d
o
r
ien
tatio
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I
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20
25
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33
1
326
lo
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3
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1
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Fig
u
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4
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C
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ig
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4
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Fig
u
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4
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s
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D.
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ical
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ates
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2
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a)
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Fig
u
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4
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T
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n
d
m
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est
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ar
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r
ap
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r
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Fig
u
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5
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Placin
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lt o
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b
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(
a)
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c)
3
0
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
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t
J
R
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b
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A
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I
SS
N:
2722
-
2
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Lo
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327
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o
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5
s
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test
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Fig
u
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5
(
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.
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.
3
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2
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m
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en
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e
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2
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lace
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lace
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iv
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itu
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aid
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e
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en
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ased
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p
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im
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s
h
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wn
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Fig
u
r
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Fig
u
r
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6
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ir
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ig
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ely
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les
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e
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ef
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e
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ath
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Fig
u
r
e
7
,
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n
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en
t,
s
h
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w
s
s
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ate
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with
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d
r
if
t,
in
d
ic
atin
g
b
alan
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d
p
er
f
o
r
m
an
ce
i
n
b
o
t
h
v
er
tical
an
d
h
o
r
izo
n
tal
d
ir
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n
s
.
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h
is
is
cr
u
cial
f
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r
task
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lik
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n
av
ig
atin
g
a
co
r
r
id
o
r
.
I
n
Fig
u
r
e
8
,
d
iag
o
n
al
m
o
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n
,
w
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er
e
b
o
t
h
x
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d
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m
p
o
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ar
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ed
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.
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s
m
o
o
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t
r
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d
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o
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r
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e
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em
o
n
s
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atin
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o
w
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L
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m
an
ag
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led
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ir
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m
o
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en
t
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r
o
r
ac
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m
u
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.
C
o
llectiv
ely
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th
ese
test
s
co
n
f
ir
m
L
iDAR
'
s
ac
cu
r
ac
y
an
d
r
eliab
ilit
y
in
lin
ea
r
an
d
co
m
b
in
ed
m
o
tio
n
s
,
b
o
ls
ter
in
g
its
ap
p
licab
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y
as a
k
ey
s
en
s
o
r
f
o
r
a
u
to
n
o
m
o
u
s
n
a
v
ig
atio
n
a
n
d
r
ea
l
-
tim
e
SLAM
[
2
3
]
.
Fig
u
r
e
6.
T
r
ajec
to
r
y
t
r
ac
k
in
g
with
th
e
X
ax
is
m
o
v
es
Fig
u
r
e
7.
T
r
ajec
to
r
y
t
r
ac
k
in
g
with
th
e
Y
ax
is
m
o
v
es
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
3
2
2
-
33
1
328
Fig
u
r
e
8
.
T
r
ajec
to
r
y
t
r
ac
k
in
g
with
th
e
X
an
d
Y
ax
is
m
o
v
e
T
ab
le
1
s
h
o
ws
th
e
ac
cu
r
ac
y
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
SLAM
C
ar
to
g
r
ap
h
e
r
s
y
s
tem
u
s
in
g
R
P
-
L
iDAR
.
T
h
e
f
in
d
in
g
s
s
h
o
w
th
at
t
h
e
s
y
s
tem
h
as
an
av
er
a
g
e
ac
cu
r
ac
y
o
f
1
.
4
cm
,
with
th
e
h
ig
h
est
ac
cu
r
a
cy
r
ec
o
r
d
ed
at
0
.
2
6
cm
an
d
th
e
lar
g
est
o
b
s
er
v
ed
in
ac
cu
r
ac
y
at
3
.
1
6
cm
.
T
h
ese
r
esu
lts
in
d
icate
th
at
th
e
SLAM
m
eth
o
d
,
wh
en
p
air
ed
with
L
iDAR
,
m
ay
p
r
o
v
id
e
ac
c
u
r
ate
lo
ca
lizatio
n
d
ata
with
a
m
in
im
al
m
ar
g
in
o
f
er
r
o
r
.
T
h
e
lo
west
ac
cu
r
ac
y
was
o
b
tain
ed
d
u
r
in
g
y
-
ax
is
d
is
p
lace
m
en
t,
esp
ec
ially
wh
en
t
h
e
L
iDAR
m
o
v
ed
f
r
o
m
y
=
6
0
cm
to
y
=
1
2
0
cm
wh
ile
k
ee
p
i
n
g
a
c
o
n
s
tan
t
x
p
o
s
itio
n
.
T
h
e
ac
cu
r
a
cy
in
th
is
s
ce
n
ar
io
d
r
o
p
p
e
d
,
w
ith
th
e
h
ig
h
est
er
r
o
r
v
alu
e
r
ea
ch
in
g
2
.
7
7
cm
wh
ile
g
o
in
g
i
n
th
e
o
p
p
o
s
ite
d
ir
ec
tio
n
(
f
r
o
m
y
=
1
2
0
c
m
to
y
=
6
0
c
m
)
.
T
h
ese
d
ata
s
h
o
w
th
at
p
o
s
itio
n
al
ac
cu
r
ac
y
is
m
ar
g
in
ally
less
d
ep
en
d
a
b
le
in
v
er
tical
m
o
v
e
m
en
ts
th
an
in
h
o
r
izo
n
tal
o
r
d
iag
o
n
al
m
o
t
io
n
s
[
2
4
]
.
Desp
ite
th
e
v
ar
ian
ce
s
in
p
r
ec
is
io
n
,
th
e
r
esu
lts
a
r
e
s
till
well
with
in
ac
ce
p
tab
le
b
o
u
n
d
s
f
o
r
in
d
o
o
r
p
o
s
itio
n
in
g
a
p
p
licatio
n
s
.
I
n
s
it
u
atio
n
s
with
lo
ca
lizatio
n
to
ler
an
ce
s
o
f
3
t
o
5
cm
,
th
e
SLAM
C
ar
to
g
r
ap
h
er
s
y
s
t
em
with
R
P
-
L
iDAR
p
r
o
v
id
es
en
o
u
g
h
p
r
ec
is
io
n
f
o
r
n
a
v
ig
atio
n
an
d
m
a
p
p
in
g
ap
p
licatio
n
s
.
T
h
is
s
h
o
ws
th
at
i
t
h
as
p
r
ac
tical
u
s
es
in
r
o
b
o
tic
n
av
ig
atio
n
,
au
to
n
o
m
o
u
s
v
eh
ic
le
lo
ca
lizatio
n
,
an
d
in
d
o
o
r
m
ap
p
i
n
g
[
2
5
]
.
T
ab
le
1
.
R
esu
lts
o
f
X
an
d
Y
l
o
ca
lizatio
n
No
R
e
a
l
P
o
si
t
i
o
n
(
c
m)
S
LA
M
c
a
r
t
o
g
r
a
p
h
e
r
(
c
m)
Er
r
o
r
(
c
m)
x
y
x
y
x
y
1
0
0
1
.
7
0
.
2
1
.
7
0
.
2
2
0
60
0
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9
4
8
5
8
.
1
6
0
.
9
4
8
1
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8
4
3
0
1
2
0
3
.
1
6
1
1
9
.
6
6
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.
1
6
0
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3
4
4
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1
2
0
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8
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6
8
1
1
9
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5
9
1
.
4
2
0
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4
1
5
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60
3
9
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5
8
5
7
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2
3
0
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4
2
2
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7
6
40
0
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0
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2
6
2
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6
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2
6
2
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6
1
7
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0
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4
0
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9
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1
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2
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0
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8
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0
4
0
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1
4
2
.
3
5
0
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1
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2
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3
5
M
e
a
n
e
r
r
o
r
1
.
1
2
1
.
4
1
M
e
a
n
s
q
u
a
r
e
e
r
r
o
r
0
.
4
0
1
4.
CO
NCLU
SI
O
N
T
h
e
Go
o
g
le
c
ar
to
g
r
ap
h
e
r
SLAM
alg
o
r
ith
m
h
as
b
ee
n
s
u
cc
ess
f
u
lly
im
p
lem
en
ted
in
th
is
s
tu
d
y
f
o
r
r
ea
l
-
tim
e
m
ap
p
in
g
a
n
d
lo
ca
lizatio
n
in
an
AW
MR.
B
y
co
m
b
in
in
g
wh
ee
l o
d
o
m
etr
y
an
d
L
iDAR
s
en
s
o
r
d
ata
with
in
a
SLAM
f
r
am
ewo
r
k
,
th
e
m
ain
g
o
al
—
ac
cu
r
ate
p
o
s
itio
n
in
g
a
n
d
en
v
ir
o
n
m
en
tal
m
a
p
p
in
g
—
was
ac
co
m
p
lis
h
ed
.
Sy
s
tem
atic
ex
p
er
im
en
tatio
n
h
as
co
n
f
ir
m
e
d
th
at
th
e
ca
r
to
g
r
ap
h
er
ca
n
b
o
th
lo
ca
lize
th
e
r
o
b
o
t
a
n
d
cr
ea
te
a
co
n
s
is
ten
t
m
ap
o
f
th
e
s
u
r
r
o
u
n
d
in
g
ar
ea
.
T
h
e
o
u
tco
m
es
d
em
o
n
s
tr
ate
th
at
C
ar
to
g
r
ap
h
er
SL
AM
p
r
o
v
id
es
h
ig
h
-
p
r
ec
is
io
n
lo
ca
lizatio
n
,
allo
win
g
th
e
r
o
b
o
t
to
f
u
n
cti
o
n
ef
f
i
cien
tly
in
in
d
o
o
r
s
ettin
g
s
.
E
v
en
wh
e
n
m
o
v
in
g
co
n
tin
u
o
u
s
ly
alo
n
g
lin
ea
r
,
r
o
t
atio
n
al,
an
d
d
ia
g
o
n
al
p
at
h
s
,
th
e
alg
o
r
ith
m
r
etain
s
s
p
atial
ac
cu
r
ac
y
with
litt
le
d
r
if
t.
T
h
e
s
y
s
tem
'
s
ab
ilit
y
to
a
d
ju
s
t
to
d
y
n
am
ic
ch
a
n
g
es
an
d
m
ain
tain
ac
cu
r
ate
s
tate
esti
m
a
tio
n
in
r
ea
l
tim
e
is
ascr
ib
ed
to
th
e
ef
f
ec
tiv
e
f
u
s
io
n
o
f
o
d
o
m
etr
y
an
d
laser
s
ca
n
d
ata.
Mo
r
eo
v
er
,
th
e
test
s
v
er
if
y
th
at
th
e
s
y
s
tem
ca
n
m
an
ag
e
in
tr
icate
n
a
v
ig
atio
n
al
task
s
with
o
u
t th
e
n
ee
d
f
o
r
ex
ter
n
al
p
o
s
itio
n
in
g
to
o
ls
lik
e
GPS.
Ap
p
licatio
n
s
in
v
o
lv
in
g
in
d
o
o
r
r
o
b
o
tics
,
lik
e
s
er
v
ice
r
o
b
o
tics
,
war
eh
o
u
s
e
au
to
m
atio
n
,
an
d
s
ea
r
ch
-
an
d
-
r
escu
e
s
itu
atio
n
s
,
b
en
ef
it
g
r
ea
tly
f
r
o
m
th
is
au
to
n
o
m
y
.
I
n
ad
d
itio
n
t
o
b
ei
n
g
a
s
ca
lab
le
a
n
d
well
-
estab
lis
h
ed
s
o
lu
tio
n
f
o
r
f
ac
ilit
atin
g
au
to
n
o
m
o
u
s
m
o
b
ilit
y
,
th
e
s
tu
d
y
em
p
h
asizes
th
at
SLAM
C
ar
to
g
r
a
p
h
er
ca
n
b
e
u
s
ed
as
a
b
asis
f
o
r
f
u
tu
r
e
a
d
v
an
ce
m
e
n
ts
in
au
to
n
o
m
o
u
s
d
ec
is
io
n
-
m
ak
in
g
,
m
u
lti
-
r
o
b
o
t
co
o
r
d
in
atio
n
,
an
d
s
em
a
n
tic
m
ap
p
in
g
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Lo
ca
liz
a
tio
n
a
n
d
ma
p
p
in
g
o
f
a
u
to
n
o
m
o
u
s
w
h
ee
l m
o
b
ile
r
o
b
o
t
u
s
in
g
Go
o
g
le
ca
r
to
g
r
a
p
h
er
(
Qo
r
y
Hid
a
ya
ti
)
329
Alth
o
u
g
h
th
e
r
esu
lts
o
b
tain
ed
in
th
is
s
tu
d
y
ar
e
p
r
o
m
i
s
in
g
,
th
er
e
is
s
till
r
o
o
m
f
o
r
f
u
r
th
e
r
im
p
r
o
v
em
e
n
t.
Fu
tu
r
e
r
esear
c
h
ca
n
f
o
cu
s
o
n
en
h
a
n
cin
g
th
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tem
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r
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b
u
s
tn
ess
in
d
y
n
am
ic
en
v
ir
o
n
m
en
ts
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in
v
esti
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atin
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alter
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ativ
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s
en
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o
r
co
n
f
ig
u
r
atio
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,
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d
ex
p
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r
in
g
way
s
to
o
p
tim
ize
co
m
p
u
tatio
n
al
r
eso
u
r
ce
s
f
o
r
r
ea
l
-
tim
e
im
p
lem
en
tatio
n
.
I
n
th
is
s
tu
d
y
,
it
was
f
o
u
n
d
th
at
im
p
r
o
v
e
m
en
ts
wer
e
s
till
n
ee
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ed
r
e
g
ar
d
in
g
lo
ca
lizatio
n
u
s
in
g
L
iDAR
,
u
s
in
g
an
o
r
ien
tatio
n
s
en
s
o
r
to
o
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t
ain
p
o
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itio
n
an
d
o
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ie
n
tatio
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io
n
.
ACK
NO
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DG
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e
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lectr
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n
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Dep
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tm
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Facu
lty
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Un
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Mu
h
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ah
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lan
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f
o
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p
p
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ity
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Neg
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B
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,
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r
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llab
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ativ
e
Gr
an
t w
ith
Nu
m
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er
: E
.
2
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a/3
3
4
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AA
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M/I
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.
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ax
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telli
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ted
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ra
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d
.
Evaluation Warning : The document was created with Spire.PDF for Python.
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Un
iv
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tern
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k
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Evaluation Warning : The document was created with Spire.PDF for Python.