I
nte
rna
t
io
na
l J
o
urna
l o
f
E
lect
rica
l a
nd
Co
m
pu
t
er
E
ng
ineering
(
I
J
E
CE
)
Vo
l.
16
,
No
.
5
,
Octo
b
er
20
26
,
p
p
.
2
4
5
4
~
2
4
7
2
I
SS
N:
2088
-
8
7
0
8
,
DOI
: 1
0
.
1
1
5
9
1
/ijece.
v
16
i
5
.
pp
2
4
5
4
-
2
4
7
2
2454
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
ec
e.
ia
esco
r
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co
m
Na
v
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a
tion a
nd steering co
ntrol o
f
a
serv
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t
us
ing
K
inec
tv2
and Li
D
AR
Su
ci
Dwij
a
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a
nti,
Sil
f
a
ni Sa
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ira
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tal
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d
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m
o
n
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n
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fo
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rv
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b
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s in
c
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m
p
lex
in
d
o
o
r
e
n
v
iro
n
m
e
n
ts.
K
ey
w
o
r
d
s
:
L
o
ca
lizatio
n
Nav
ig
atio
n
Po
s
itio
n
in
g
Ser
v
ice
r
o
b
o
t
Steer
in
g
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Su
ci
Dwijay
an
ti
Dep
ar
tm
en
t o
f
E
lectr
ical
E
n
g
i
n
ee
r
in
g
,
Facu
lty
o
f
E
n
g
in
ee
r
in
g
,
Un
iv
er
s
itas
Sriwijay
a
J
l.
R
ay
a
Palem
b
an
g
Pra
b
u
m
u
lih
KM
3
2
,
I
n
d
er
ala
y
a,
Og
an
I
l
ir
,
I
n
d
o
n
esia
E
m
ail:
s
u
cid
wijay
an
ti@
f
t.u
n
s
r
i.a
c.
id
1.
I
NT
RO
D
UCT
I
O
N
Ser
v
ice
r
o
b
o
ts
ar
e
n
o
n
-
in
d
u
s
tr
ial
r
o
b
o
ts
d
esig
n
ed
to
p
er
f
o
r
m
task
s
th
at
ass
i
s
t
h
u
m
an
s
th
r
o
u
g
h
in
ter
ac
tio
n
,
co
m
m
u
n
icatio
n
,
a
n
d
s
er
v
ice
d
eliv
er
y
[
1
]
.
T
h
ey
in
teg
r
ate
r
o
b
o
tics
an
d
ar
tific
ia
l
in
tellig
en
ce
with
au
to
n
o
m
o
u
s
tech
n
o
lo
g
ies
a
n
d
p
h
y
s
ical
in
ter
f
ac
es
[
2
]
.
R
o
b
u
s
t
en
v
ir
o
n
m
en
tal
m
a
p
p
in
g
ca
p
ab
ilit
y
is
ess
en
tial
f
o
r
c
o
m
p
u
tin
g
o
p
tim
al
n
a
v
ig
atio
n
p
ath
s
f
r
o
m
th
e
r
o
b
o
t’
s
cu
r
r
e
n
t
p
o
s
itio
n
to
a
tar
g
et
lo
ca
tio
n
,
en
ab
lin
g
au
to
n
o
m
o
u
s
o
p
er
atio
n
.
T
h
is
f
r
am
ewo
r
k
is
co
m
m
o
n
ly
r
ef
er
r
ed
to
as
p
o
s
itio
n
in
g
,
lo
ca
lizati
o
n
,
a
n
d
n
av
ig
atio
n
(
PLAN
)
.
I
t
in
v
o
lv
es
esti
m
atin
g
th
e
r
o
b
o
t’
s
s
p
atial
co
o
r
d
i
n
ates
(
p
o
s
itio
n
in
g
)
,
d
eter
m
i
n
in
g
i
ts
p
o
s
e
r
elativ
e
to
a
k
n
o
wn
o
r
d
y
n
am
ically
g
en
er
ated
m
ap
(
lo
ca
lizatio
n
)
,
an
d
co
m
p
u
tin
g
an
o
p
tim
al
tr
ajec
to
r
y
to
th
e
tar
g
et
lo
ca
tio
n
(
n
a
v
ig
atio
n
)
[
3
]
.
Po
s
itio
n
in
g
r
ef
er
s
to
th
e
p
r
o
c
ess
b
y
wh
ich
a
r
o
b
o
t
d
eter
m
in
es
its
ex
ac
t
lo
ca
tio
n
.
Un
ce
r
ta
in
ty
in
th
is
p
r
o
ce
s
s
ca
n
lead
to
l
o
ca
lizatio
n
f
ailu
r
e
.
Mo
r
eo
v
er
,
th
e
r
o
b
o
t
m
u
s
t
d
etec
t
en
v
ir
o
n
m
e
n
tal
d
is
tu
r
b
an
ce
s
to
r
ep
o
s
itio
n
its
elf
ef
f
ec
tiv
ely
[
4
]
.
A
s
im
u
ltan
e
o
u
s
lo
ca
lizatio
n
an
d
m
ap
p
in
g
(
SLAM
)
alg
o
r
it
h
m
ar
e
co
m
m
o
n
ly
u
s
ed
to
ad
d
r
ess
th
is
is
s
u
e.
SLAM
is
a
m
ap
p
in
g
ap
p
r
o
ac
h
ap
p
lied
wh
e
n
r
o
b
o
t
l
o
ca
lizatio
n
is
u
n
ce
r
tain
[
5
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
N
a
vig
a
tio
n
a
n
d
s
teerin
g
co
n
tr
o
l o
f a
s
ervice
r
o
b
o
t u
s
in
g
K
in
ec
tv2
a
n
d
LiDAR
(
S
u
ci
Dw
ija
ya
n
ti
)
2455
Ho
wev
er
,
th
is
m
eth
o
d
h
as
lim
itatio
n
s
in
au
to
m
atica
lly
g
e
n
er
atin
g
an
d
u
p
d
atin
g
m
ap
s
[
6
]
.
T
h
er
e
f
o
r
e,
r
o
b
u
s
t
p
r
o
b
a
b
ilis
tic
s
elf
-
lo
ca
lizatio
n
m
eth
o
d
s
th
at
ac
co
u
n
t
f
o
r
s
en
s
o
r
u
n
ce
r
tain
ty
an
d
m
o
tio
n
e
r
r
o
r
s
ar
e
r
eq
u
ir
e
d
,
in
clu
d
in
g
Ma
r
k
o
v
lo
ca
lizatio
n
,
Kalm
an
f
ilter
in
g
,
an
d
a
d
ap
tiv
e
Mo
n
te
C
ar
lo
lo
ca
lizatio
n
(
A
MCL)
[
7
]
.
Nav
ig
ati
o
n
d
e
te
r
m
i
n
es
t
h
e
p
ath
t
h
at
e
n
a
b
l
es
a
r
o
b
o
t
t
o
m
o
v
e
f
r
o
m
t
h
e
s
ta
r
ti
n
g
p
o
s
it
io
n
t
o
th
e
d
est
in
ati
o
n
.
I
t
in
v
o
l
v
es
g
l
o
b
al
a
n
d
l
o
c
al
p
at
h
p
la
n
n
i
n
g
.
Glo
b
a
l
p
at
h
p
la
n
n
i
n
g
f
o
c
u
s
e
s
o
n
o
f
f
li
n
e
r
o
u
te
g
e
n
e
r
a
ti
o
n
a
n
d
p
r
e
d
i
cti
o
n
;
h
o
wev
er
,
i
t
is
n
o
t
p
e
r
f
o
r
m
e
d
i
n
r
ea
l
t
im
e
a
n
d
c
an
n
o
t
r
e
a
d
il
y
a
d
ap
t
t
o
e
n
v
ir
o
n
m
e
n
ta
l
ch
an
g
es
[
8
]
.
E
x
a
m
p
les
o
f
g
l
o
b
al
p
at
h
p
la
n
n
i
n
g
al
g
o
r
i
th
m
s
in
cl
u
d
e
Dij
k
s
t
r
a’
s
a
lg
o
r
it
h
m
,
A
-
s
ta
r
,
r
a
p
i
d
l
y
ex
p
l
o
r
i
n
g
r
a
n
d
o
m
t
r
e
e
(
R
R
T
)
,
p
o
te
n
ti
al
f
ie
ld
m
et
h
o
d
s
,
an
d
a
n
t
c
o
l
o
n
y
o
p
ti
m
i
za
t
io
n
[
9
]
.
L
o
ca
l
p
at
h
p
la
n
n
i
n
g
is
d
y
n
am
ic
a
n
d
p
e
r
f
o
r
m
e
d
o
n
li
n
e
,
en
a
b
li
n
g
t
h
e
r
o
b
o
t
t
o
m
ak
e
r
e
al
-
ti
m
e
d
ec
is
i
o
n
s
b
ase
d
o
n
e
n
v
ir
o
n
m
en
tal
co
n
d
iti
o
n
s
,
w
h
ic
h
m
a
k
es
it
s
u
i
tab
le
f
o
r
c
o
m
p
l
e
x
tas
k
s
.
H
o
w
e
v
e
r
,
av
o
i
d
i
n
g
c
o
ll
is
i
o
n
s
w
it
h
s
u
r
r
o
u
n
d
i
n
g
o
b
j
ec
ts
r
e
m
ai
n
s
a
m
aj
o
r
c
h
al
le
n
g
e
[
1
0
]
.
L
o
ca
l
p
a
th
p
l
an
n
i
n
g
al
g
o
r
it
h
m
s
i
n
cl
u
d
e
t
h
e
d
y
n
a
m
i
c
wi
n
d
o
w
a
p
p
r
o
a
ch
,
ti
m
e
elast
ic
b
a
n
d
,
m
o
d
el
p
r
e
d
ic
ti
v
e
co
n
t
r
o
l
,
a
n
d
AM
C
L
[
7
]
.
A
d
d
it
io
n
a
ll
y
,
ef
f
e
cti
v
e
n
a
v
i
g
at
io
n
i
n
d
y
n
am
ic
en
v
i
r
o
n
m
e
n
ts
r
e
q
u
ir
es
r
o
b
u
s
t
p
er
ce
p
ti
o
n
,
l
o
c
ali
za
t
io
n
,
p
a
th
p
l
an
n
i
n
g
,
a
n
d
m
o
ti
o
n
co
n
t
r
o
l
c
a
p
a
b
il
iti
es
[
1
1
]
.
A
r
o
b
o
t
r
e
q
u
ir
es
a
co
n
tr
o
l
s
y
s
tem
to
r
eg
u
late
s
teer
in
g
d
u
r
in
g
m
an
eu
v
er
in
g
an
d
s
u
p
p
o
r
t
ef
f
ec
tiv
e
n
av
ig
atio
n
[
1
2
]
,
[
1
3
]
.
Var
io
u
s
co
n
tr
o
l
m
eth
o
d
s
h
av
e
b
ee
n
u
s
ed
,
in
clu
d
i
n
g
f
u
zz
y
lo
g
ic
[
1
4
]
,
p
r
o
p
o
r
tio
n
al
–
in
teg
r
al
–
d
er
i
v
ativ
e
(
PID
)
c
o
n
tr
o
l
[
1
5
]
,
a
n
d
g
en
etic
alg
o
r
ith
m
s
[
1
6
]
.
R
o
b
o
t
co
n
tr
o
l
s
y
s
tem
s
ar
e
s
u
b
ject
t
o
u
n
ce
r
tain
ty
a
n
d
d
is
tu
r
b
an
ce
s
t
h
at
ca
n
ca
u
s
e
s
teer
in
g
in
a
cc
u
r
ac
ies an
d
r
ed
u
ce
n
av
ig
atio
n
ef
f
icien
cy
[
1
3
]
.
Ma
p
p
in
g
an
d
n
av
i
g
atio
n
r
em
ain
ch
allen
g
i
n
g
i
n
d
y
n
am
ic
in
d
o
o
r
en
v
ir
o
n
m
en
ts
[
1
7
]
,
wh
er
e
s
er
v
ice
r
o
b
o
ts
m
u
s
t
co
n
tin
u
o
u
s
ly
ad
a
p
t
to
r
ap
i
d
ch
an
g
es.
Prio
r
s
tu
d
ies
h
av
e
ty
p
ically
tr
ea
ted
th
e
PLAN
f
r
am
ewo
r
k
as
s
ep
ar
ate
co
m
p
o
n
en
ts
with
in
r
o
b
o
tic
s
y
s
tem
s
.
I
n
co
n
tr
ast,
th
is
s
tu
d
y
d
ev
elo
p
s
an
in
teg
r
ated
PLAN
s
y
s
tem
f
o
r
a
s
er
v
ice
r
o
b
o
t,
em
p
h
asizin
g
a
u
n
if
ied
ar
c
h
itectu
r
e
th
at
co
m
b
in
es
h
y
b
r
i
d
m
ap
p
in
g
,
m
u
lti
-
s
en
s
o
r
f
u
s
io
n
,
an
d
h
ier
ar
ch
ical
co
n
tr
o
l to
e
n
h
an
c
e
r
o
b
u
s
tn
ess
in
d
y
n
am
ic
in
d
o
o
r
s
ettin
g
s
.
T
h
e
p
r
o
p
o
s
ed
n
av
i
g
atio
n
s
y
s
te
m
em
p
lo
y
s
v
is
u
al
s
im
u
ltan
eo
u
s
lo
ca
lizatio
n
an
d
m
ap
p
in
g
(
V
-
SLAM
)
,
lev
er
ag
in
g
o
d
o
m
etr
y
d
er
iv
ed
f
r
o
m
GM
ap
p
in
g
-
b
ased
SLAM
f
o
r
im
p
r
o
v
ed
r
ea
l
-
tim
e
p
er
f
o
r
m
an
ce
.
T
h
is
d
ata
is
f
u
r
th
er
p
r
o
ce
s
s
ed
b
y
r
ea
l
-
tim
e
ap
p
ea
r
an
ce
-
b
ased
m
ap
p
in
g
(
R
T
AB
-
Ma
p
)
to
g
en
er
ate
th
r
ee
-
d
im
en
s
io
n
al
p
o
i
n
t
clo
u
d
r
ep
r
esen
tatio
n
s
[
1
8
]
.
S
elf
-
lo
ca
lizatio
n
is
en
h
an
ce
d
u
s
in
g
an
ex
ten
d
ed
Kalm
an
f
ilt
er
(
E
KF)
to
r
ed
u
ce
s
en
s
o
r
n
o
is
e
a
n
d
m
itig
ate
wh
e
el
s
lip
ef
f
ec
ts
[
1
9
]
.
Fo
r
p
ath
p
l
an
n
in
g
,
an
ar
tific
ial
p
o
ten
tial
f
ield
(
APF)
m
eth
o
d
is
u
s
ed
f
o
r
lo
ca
l
p
lan
n
in
g
,
wh
ile
A
-
s
tar
an
d
b
id
ir
ec
tio
n
al
r
ap
id
ly
ex
p
lo
r
in
g
r
an
d
o
m
tr
ee
s
tar
(
R
R
T
*
)
alg
o
r
ith
m
s
ar
e
a
p
p
lied
f
o
r
g
l
o
b
al
p
lan
n
in
g
[
2
0
]
–
[
2
2
]
.
Steer
in
g
co
n
tr
o
l
is
im
p
lem
e
n
ted
u
s
in
g
ty
p
e
-
2
f
u
zz
y
lo
g
ic,
wh
ich
h
as
s
h
o
wn
s
tr
o
n
g
p
er
f
o
r
m
an
ce
in
p
r
ev
io
u
s
s
tu
d
ies
[
2
3
]
,
[
2
4
]
,
en
a
b
lin
g
e
f
f
ec
ti
v
e
m
an
e
u
v
er
in
g
in
co
m
p
lex
e
n
v
ir
o
n
m
en
ts
.
Sev
er
al
p
r
ev
io
u
s
s
tu
d
ies
h
av
e
in
v
esti
g
ated
au
to
n
o
m
o
u
s
r
o
b
o
t
n
av
ig
atio
n
b
y
f
o
cu
s
in
g
o
n
in
d
iv
id
u
al
co
m
p
o
n
en
ts
o
f
t
h
e
PLAN
f
r
a
m
ewo
r
k
,
s
u
c
h
as
m
ap
p
in
g
,
lo
ca
lizatio
n
,
p
ath
p
lan
n
in
g
,
o
r
m
o
tio
n
c
o
n
tr
o
l.
So
m
e
s
tu
d
ies
p
r
im
ar
ily
f
o
cu
s
o
n
SL
AM
-
b
ased
m
ap
p
in
g
u
s
in
g
L
iDAR
s
en
s
o
r
s
,
wh
ile
o
th
er
s
e
m
p
h
asize
lo
ca
lizatio
n
im
p
r
o
v
em
e
n
t
th
r
o
u
g
h
p
r
o
b
a
b
ilis
tic
f
ilter
in
g
m
eth
o
d
s
o
r
n
av
ig
atio
n
u
s
in
g
g
l
o
b
al
a
n
d
l
o
ca
l
p
ath
-
p
lan
n
in
g
alg
o
r
ith
m
s
.
I
n
a
d
d
itio
n
,
s
ev
er
al
wo
r
k
s
h
av
e
ex
p
lo
r
ed
f
u
zz
y
lo
g
ic
-
b
ased
s
teer
in
g
co
n
t
r
o
l
f
o
r
im
p
r
o
v
i
n
g
r
o
b
o
t
m
an
eu
v
er
a
b
ilit
y
.
Ho
wev
er
,
m
o
s
t
ex
is
tin
g
ap
p
r
o
ac
h
es
ev
alu
ate
th
ese
co
m
p
o
n
en
ts
s
ep
ar
ately
an
d
r
el
y
o
n
s
in
g
le
-
s
en
s
o
r
co
n
f
ig
u
r
atio
n
s
,
r
esu
ltin
g
in
lim
ited
en
v
ir
o
n
m
en
tal
p
er
ce
p
tio
n
an
d
r
ed
u
ce
d
r
o
b
u
s
tn
ess
in
d
y
n
am
ic
in
d
o
o
r
e
n
v
ir
o
n
m
en
t
s
.
Fu
r
th
er
m
o
r
e,
o
n
ly
lim
ited
s
tu
d
ies
h
av
e
in
teg
r
ated
h
y
b
r
i
d
2
D
–
3
D
m
ap
p
in
g
,
m
u
lti
-
s
en
s
o
r
f
u
s
io
n
,
h
ier
a
r
ch
ical
n
av
ig
atio
n
,
an
d
in
tellig
e
n
t
s
teer
in
g
c
o
n
tr
o
l
in
to
a
u
n
if
ied
R
OS2
-
b
ased
f
r
am
ewo
r
k
f
o
r
r
ea
l
-
tim
e
au
t
o
n
o
m
o
u
s
s
er
v
ice
r
o
b
o
ts
.
M
o
s
t
p
r
ev
io
u
s
s
y
s
tem
s
also
lack
co
m
p
r
eh
en
s
iv
e
in
teg
r
atio
n
b
etwe
en
m
a
p
p
in
g
,
lo
ca
lizatio
n
,
n
av
ig
atio
n
,
an
d
s
teer
in
g
co
n
tr
o
l
u
n
d
er
d
y
n
am
ic
an
d
clu
tter
ed
en
v
ir
o
n
m
en
tal
co
n
d
itio
n
s
.
T
h
er
ef
o
r
e,
th
is
s
tu
d
y
p
r
o
p
o
s
es
a
co
m
p
r
eh
en
s
iv
e
PLAN
f
r
am
e
wo
r
k
th
at
in
teg
r
ates
L
iDAR
-
b
ased
GM
ap
p
in
g
,
R
T
AB
-
Ma
p
,
E
KF
-
b
ased
s
en
s
o
r
f
u
s
io
n
,
b
id
ir
ec
tio
n
al
R
R
T
*
p
ath
p
lan
n
in
g
,
APF
o
b
s
tacle
av
o
id
an
ce
,
an
d
T
y
p
e
-
2
f
u
zz
y
lo
g
ic
s
teer
in
g
c
o
n
tr
o
l in
to
a
s
in
g
le
au
to
n
o
m
o
u
s
n
av
i
g
atio
n
ar
ch
itectu
r
e.
I
n
th
is
s
tu
d
y
,
th
e
s
er
v
ice
r
o
b
o
t
is
eq
u
ip
p
ed
with
m
u
ltip
le
s
e
n
s
o
r
s
to
im
p
lem
en
t
th
e
p
r
o
p
o
s
ed
PLAN
f
r
am
ewo
r
k
,
in
clu
d
i
n
g
L
iDAR
an
d
Kin
ec
t
v
2
(
Xb
o
x
)
.
L
iD
AR
is
u
s
ed
to
m
ap
th
e
s
u
r
r
o
u
n
d
in
g
en
v
ir
o
n
m
e
n
t
an
d
p
r
o
v
id
e
ac
cu
r
ate
d
is
tan
ce
m
ea
s
u
r
em
en
ts
to
s
u
p
p
o
r
t
l
o
c
aliza
tio
n
an
d
n
av
ig
atio
n
[
2
5
]
,
wh
ile
Kin
ec
t
v
2
,
eq
u
ip
p
e
d
with
an
R
GB
ca
m
er
a,
is
u
s
ed
f
o
r
o
b
ject
d
etec
tio
n
,
th
r
ee
-
d
im
en
s
io
n
al
m
ap
p
in
g
,
an
d
s
u
p
p
o
r
t
o
f
th
e
lo
ca
lizatio
n
s
y
s
tem
th
r
o
u
g
h
S
L
AM
[
2
6
]
.
T
o
clea
r
l
y
d
is
tin
g
u
is
h
th
is
wo
r
k
f
r
o
m
p
r
ev
io
u
s
s
tu
d
ies,
th
e
m
ain
co
n
tr
ib
u
tio
n
s
o
f
th
is
r
esear
ch
ar
e
s
u
m
m
ar
ized
as f
o
llo
ws:
−
A
h
y
b
r
id
m
ap
p
in
g
f
r
am
e
w
o
r
k
t
h
a
t
in
t
eg
r
a
t
e
s
2
D
L
i
D
A
R
-
b
a
s
e
d
S
L
A
M
(
G
-
Ma
p
p
i
n
g
)
an
d
3
D
R
G
B
-
D
S
L
A
M
(
R
T
A
B
-
M
a
p
)
w
i
t
h
in
a
u
n
if
i
e
d
R
O
S
2
a
r
ch
i
t
e
c
t
u
r
e
,
e
n
a
b
l
in
g
e
f
f
i
c
i
e
n
t
n
av
i
g
a
t
io
n
a
n
d
e
n
h
an
c
e
d
e
n
v
ir
o
n
m
en
t
a
l
p
e
r
ce
p
t
io
n
.
−
A
m
u
lti
-
s
en
s
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o
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lcu
lated
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er
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atr
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r
r
ec
tio
n
s
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ed
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u
p
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ate
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e
s
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m
ate
i
s
ex
p
r
ess
ed
as:
̂
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−
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(
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(
3
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wh
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r
r
ec
ted
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atio
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atio
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r
ep
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ts
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ctu
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er
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n
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h
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icted
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el
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ai
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g
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r
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ce
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2459
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2
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m
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h
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f
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p
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t d
e
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3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
3
.
1
.
M
a
pp
ing
T
h
e
m
a
p
p
i
n
g
p
e
r
f
o
r
m
a
n
c
e
o
f
S
L
A
M
a
l
g
o
r
it
h
m
s
,
i
n
c
l
u
d
i
n
g
H
e
c
t
o
r
S
L
AM
,
G
-
M
a
p
p
i
n
g
SL
A
M
,
a
n
d
K
a
r
t
o
S
L
A
M
,
wa
s
e
v
a
l
u
at
e
d
u
s
i
n
g
G
a
z
e
b
o
a
s
a
s
i
m
u
l
a
t
i
o
n
en
v
i
r
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n
m
e
n
t
p
r
i
o
r
t
o
r
e
a
l
-
t
i
m
e
i
m
p
l
e
m
e
n
t
a
t
i
o
n
.
T
h
e
s
i
m
u
l
at
i
o
n
w
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c
o
n
d
u
c
t
e
d
i
n
a
v
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u
a
l
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n
v
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n
m
e
n
t
t
o
a
s
s
ess
al
g
o
r
i
t
h
m
p
e
r
f
o
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m
a
n
c
e
u
n
d
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r
c
o
n
t
r
o
l
l
e
d
c
o
n
d
i
t
i
o
n
s
.
T
h
e
n
e
x
t
s
te
p
i
n
v
o
l
v
e
d
i
n
t
e
g
r
at
i
o
n
w
i
t
h
a
u
n
i
f
i
e
d
r
o
b
o
t
d
es
c
r
i
p
t
i
o
n
f
o
r
m
a
t
(
UR
DF
)
f
i
le
,
w
h
i
c
h
w
as
g
e
n
e
r
a
t
e
d
f
r
o
m
t
h
e
S
o
l
i
d
W
o
r
k
s
m
o
d
e
l
o
f
t
h
e
s
e
r
v
i
c
e
r
o
b
o
t
.
T
h
e
U
R
D
F
m
o
d
e
l
w
a
s
d
e
r
i
v
e
d
f
r
o
m
t
h
e
C
A
D
d
e
s
i
g
n
u
s
e
d
i
n
t
h
e
s
i
m
u
la
t
i
o
n
a
n
d
a
u
g
m
e
n
t
e
d
w
i
t
h
p
h
y
s
i
ca
l
p
r
o
p
e
r
t
i
es
s
u
c
h
as
i
n
e
r
t
ia
,
c
o
l
li
s
i
o
n
,
a
n
d
v
is
u
a
l
at
t
r
i
b
u
t
es
.
T
h
e
UR
DF
is
an
ex
ten
s
ib
le
m
ar
k
u
p
lan
g
u
a
g
e
(
XM
L
)
f
ile
u
s
ed
in
R
OS
to
d
escr
ib
e
th
e
s
tr
u
ctu
r
e
an
d
p
h
y
s
ical
p
r
o
p
er
ties
o
f
a
r
o
b
o
t.
I
n
th
is
s
tu
d
y
,
o
n
ly
t
h
e
b
ase
s
tr
u
ctu
r
e,
s
en
s
o
r
s
,
an
d
d
r
iv
e
wh
e
els
wer
e
co
n
v
e
r
ted
in
to
th
e
UR
DF
m
o
d
el.
T
h
e
im
p
lem
en
tatio
n
was
ca
r
r
ied
o
u
t
in
Gaz
eb
o
an
d
R
Viz,
wh
er
e
th
e
r
o
b
o
t
was
m
o
d
eled
with
d
im
en
s
io
n
s
c
o
n
s
is
ten
t
with
th
e
3
D
d
esig
n
cr
ea
te
d
in
So
lid
W
o
r
k
s
.
I
n
th
e
s
im
u
latio
n
en
v
ir
o
n
m
en
t,
ac
cu
r
ate
m
ap
p
i
n
g
th
at
r
ef
lects
r
ea
l
-
wo
r
ld
c
o
n
d
itio
n
s
is
ess
en
tial
f
o
r
r
ep
r
esen
tin
g
th
e
r
o
b
o
t’
s
o
p
er
atin
g
s
p
ac
e.
T
h
is
m
ap
p
i
n
g
is
d
e
f
in
ed
u
s
in
g
f
iles
with
th
e
“
.
w
o
r
ld
”
ex
ten
s
io
n
.
A
n
en
v
i
r
o
n
m
e
n
t
was
cr
ea
ted
to
r
ep
licate
th
e
d
im
en
s
io
n
s
an
d
o
b
ject
lay
o
u
t
o
f
t
h
e
C
o
n
tr
o
l
an
d
R
o
b
o
tics
L
ab
o
r
a
to
r
y
at
Un
iv
er
s
itas
Sriwijay
a.
T
h
e
test
in
g
lay
o
u
t
ca
n
b
e
s
ee
n
i
n
Fig
u
r
e
5
.
Fig
u
r
e
5
(
a
)
s
h
o
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f
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test
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m
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t,
wh
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Fig
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5
(
b
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p
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th
e
m
ap
cr
ea
tio
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p
r
o
ce
s
s
,
wh
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g
en
er
ated
a
f
ile
with
th
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“
la
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d
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w
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ex
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T
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s
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e
co
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f
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s
o
f
th
e
t
h
r
ee
alg
o
r
ith
m
s
,
r
esp
ec
tiv
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.
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m
ea
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s
q
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e
d
er
r
o
r
(
MSE
)
an
d
F1
-
s
co
r
e
wer
e
u
s
ed
to
ev
alu
ate
t
h
e
p
e
r
f
o
r
m
an
ce
o
f
th
e
th
r
ee
alg
o
r
ith
m
s
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h
e
MSE
was
ca
lcu
lated
as
th
e
av
e
r
ag
e
s
q
u
ar
ed
d
if
f
e
r
en
ce
b
etwe
en
c
o
r
r
esp
o
n
d
in
g
p
o
in
ts
in
two
-
p
o
in
t
clo
u
d
s
,
n
am
ely
th
e
g
en
e
r
ated
m
a
p
an
d
t
h
e
r
e
f
er
en
ce
m
ap
.
T
h
e
F1
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s
co
r
e
was
u
s
ed
as
an
ac
cu
r
ac
y
m
etr
ic
b
y
co
m
p
ar
in
g
th
e
g
en
er
ate
d
m
ap
with
th
e
r
ef
er
e
n
ce
m
a
p
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a
m
a
n
n
er
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alo
g
o
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s
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im
ag
e
class
if
icatio
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.
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p
q
u
ality
was
ass
ess
ed
u
s
in
g
th
r
ee
m
etr
ics
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er
iv
ed
f
r
o
m
p
o
in
t
clo
u
d
c
o
m
p
a
r
is
o
n
s
:
p
r
ec
is
io
n
,
r
ec
all,
a
n
d
F1
-
s
co
r
e.
Pre
cisi
o
n
m
ea
s
u
r
es
th
e
p
r
o
p
o
r
tio
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o
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ed
icted
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s
itiv
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p
o
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ts
th
at
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r
e
co
r
r
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th
e
m
ap
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er
ea
s
r
ec
all
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ea
s
u
r
es
th
e
p
r
o
p
o
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o
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al
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o
s
itiv
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o
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ts
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at
ar
e
co
r
r
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tly
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ete
cted
.
T
h
e
F1
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s
co
r
e
co
m
b
in
es p
r
ec
is
io
n
a
n
d
r
ec
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in
to
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s
in
g
le
m
etr
ic,
p
r
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d
in
g
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o
v
e
r
all
m
ea
s
u
r
e
o
f
p
er
f
o
r
m
an
ce
.
T
ab
le
7
s
h
o
ws th
at
G
-
Ma
p
p
in
g
SLAM
ac
h
iev
ed
th
e
b
est o
v
er
all
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er
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o
r
m
a
n
ce
in
g
en
er
atin
g
2
D
m
ap
s
co
m
p
ar
ed
with
th
e
o
th
er
e
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al
u
ated
alg
o
r
ith
m
s
.
T
h
is
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e
r
f
o
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m
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ce
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lecte
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y
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e
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f
0
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2
6
,
i
n
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icatin
g
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at
th
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en
e
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ated
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ap
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ely
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atch
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th
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ce
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en
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1
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7
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n
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ar
e
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th
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th
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e
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f
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ec
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r
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n
d
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to
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AM
.
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ar
e
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ain
ly
ca
u
s
ed
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y
en
v
ir
o
n
m
en
tal
co
m
p
lex
ity
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s
e
n
s
o
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n
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is
e,
o
d
o
m
etr
y
d
r
if
t,
a
n
d
m
is
m
atch
es
b
etwe
en
th
e
g
e
n
er
ated
o
cc
u
p
an
c
y
g
r
id
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d
th
e
g
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o
u
n
d
-
tr
u
th
m
a
p
,
wh
ich
a
f
f
ec
t
th
e
d
etec
tio
n
o
f
o
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u
p
ied
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n
d
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r
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ce
lls
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u
r
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g
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al
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atio
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.
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n
p
ar
ticu
lar
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th
e
l
o
w
r
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all
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al
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e
in
d
icate
s
th
at
s
o
m
e
en
v
ir
o
n
m
en
tal
f
ea
tu
r
es
wer
e
n
o
t
s
u
cc
ess
f
u
lly
m
ap
p
ed
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wh
ile
th
e
lo
w
p
r
ec
is
io
n
v
al
u
e
s
u
g
g
ests
th
e
p
r
esen
ce
o
f
in
co
r
r
ec
tly
id
en
tifie
d
m
ap
r
eg
io
n
s
ca
u
s
ed
b
y
ac
cu
m
u
lated
lo
ca
lizatio
n
a
n
d
s
ca
n
n
in
g
er
r
o
r
s
.
C
o
n
s
eq
u
e
n
tly
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th
e
F1
-
s
co
r
e
also
r
em
ai
n
s
lo
w
b
ec
au
s
e
it
d
ep
en
d
s
o
n
th
e
b
alan
ce
b
etwe
en
p
r
ec
is
io
n
a
n
d
r
ec
all.
T
ab
le
7
.
MSE
an
d
F1
-
s
co
r
e
f
o
r
th
e
SLAM
Alg
o
r
ith
m
s
A
l
g
o
r
i
t
h
m
M
S
E
F1
-
sc
o
r
e
R
e
c
a
l
l
P
r
e
c
i
s
i
o
n
H
e
c
t
o
r
S
LA
M
0
.
3
1
0
.
1
2
4
4
0
.
0
3
1
2
0
.
0
4
9
8
G
-
M
a
p
p
i
n
g
S
LA
M
0
.
2
6
0
.
1
7
1
4
0
.
0
4
6
7
0
.
0
7
3
4
K
a
r
t
o
S
LA
M
0
.
3
0
0
.
1
4
8
0
0
.
0
4
1
0
0
.
0
6
4
2
Desp
ite
th
ese
lim
itatio
n
s
,
G
-
Ma
p
p
in
g
SLAM
s
till
o
u
tp
er
f
o
r
m
ed
th
e
o
th
er
two
al
g
o
r
ith
m
s
d
u
e
to
th
e
im
p
lem
en
tatio
n
o
f
t
h
e
R
ao
–
B
lack
wellize
d
p
ar
ticle
f
ilter
,
wh
ich
ef
f
ec
tiv
ely
h
a
n
d
les
u
n
ce
r
tain
ty
in
o
d
o
m
etr
y
an
d
m
o
tio
n
d
ata,
ad
ap
ts
to
u
n
s
tr
u
ctu
r
ed
o
r
asy
m
m
etr
ic
en
v
ir
o
n
m
en
ts
,
an
d
p
r
o
d
u
ce
s
m
o
r
e
ac
cu
r
ate
two
-
d
im
en
s
io
n
al
m
ap
s
.
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n
ad
d
itio
n
,
th
e
ad
ap
tiv
e
p
ar
ticle
r
esam
p
l
in
g
p
r
o
ce
s
s
h
elp
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r
ed
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ce
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m
p
u
tatio
n
al
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ad
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im
p
r
o
v
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r
all
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f
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,
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in
a
b
etter
s
u
cc
ess
r
at
e
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d
s
tab
le
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m
p
u
tatio
n
tim
e
d
u
r
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g
th
e
m
a
p
p
in
g
p
r
o
ce
s
s
.
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h
ese
r
esu
lts
d
em
o
n
s
tr
ate
th
at,
u
n
d
e
r
r
ea
l
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ld
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s
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th
e
in
teg
r
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n
o
f
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R
A3
an
d
Kin
ec
t
v
2
with
th
e
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p
p
in
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alg
o
r
ith
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im
p
r
o
v
es
m
ap
p
in
g
ac
c
u
r
ac
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.
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r
ea
l
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tim
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ce
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ased
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ap
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(
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Ma
p
)
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alg
o
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ith
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is
em
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l
o
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ed
f
o
r
r
ea
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tim
e
3
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m
ap
p
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b
y
p
r
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ce
s
s
in
g
R
GB
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D
an
d
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aser
Scan
d
ata.
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h
e
r
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ltin
g
3
D
m
ap
s
ar
e
ex
p
o
r
ted
as
2
D
m
ap
f
iles
(
.
p
g
m
an
d
.
ya
ml
)
,
w
h
ich
ar
e
c
o
m
p
atib
le
with
n
av
ig
atio
n
p
r
o
ce
s
s
es
s
im
ilar
to
th
o
s
e
u
s
ed
i
n
G
-
M
ap
p
in
g
SLAM
.
R
T
AB
-
Ma
p
also
en
h
an
ce
s
d
ata
ac
q
u
is
itio
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alu
atio
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d
p
r
ec
is
e
2
D
n
av
ig
atio
n
.
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d
er
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ea
l
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ld
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o
n
d
itio
n
s
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ap
p
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g
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er
f
o
r
m
ed
u
s
in
g
b
o
th
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p
in
g
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d
R
T
AB
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Ma
p
,
lev
er
ag
in
g
d
ata
f
r
o
m
L
iDAR
A3
an
d
Kin
ec
t
v
2
.
L
iDAR
A
3
p
r
o
v
id
es
d
is
tan
ce
m
ea
s
u
r
em
en
ts
o
f
s
u
r
r
o
u
n
d
in
g
o
b
jects,
wh
ich
ar
e
p
r
o
c
ess
ed
in
to
laser
s
ca
n
d
ata
a
n
d
c
o
m
b
i
n
ed
with
o
d
o
m
etr
y
to
im
p
r
o
v
e
th
e
ac
cu
r
ac
y
o
f
th
e
r
o
b
o
t’
s
p
o
s
itio
n
a
n
d
o
r
ien
tatio
n
esti
m
ates,
en
s
u
r
in
g
co
n
s
is
ten
cy
with
p
r
ev
io
u
s
ly
co
n
s
tr
u
ct
ed
m
ap
s
.
Kin
ec
t
v
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