SLAM in Duckietown Simulator Using the OpenVSLAM Framework

Abstract

The article is devoted to evaluating the applicability of SLAM frameworks for the task of mobile robots of the Duckietown project. The paper provides a comparative analysis of existing SLAM algorithms and frameworks and se-lects frameworks taking into account all the constraints imposed by the project robots. The practical results of testing OpenVSLAM framework on the Duckietown environment and Duckietown simulator data are presented.