论文标题
插件大满贯：一个统一的大满贯体系结构，可用于模块化和易用性
Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use
论文作者
论文摘要
如今，机器人社区认为SLAM（同时本地化和映射）是一个成熟的领域。当前，有许多开源系统能够在典型的现实情况下进行快速准确的估计。尽管如此，所有这些系统通常都提供了一个临时实现，该实现需要用于预定义的传感器配置。在这项工作中，我们解决了这个问题，提出了一种新颖的SLAM体系结构，专门针对解决异质传感器的配置并标准化SLAM解决方案。由于其模块化和特定的设计模式，呈现的体系结构易于扩展，从而增强了代码重用和效率。最后，采用解决方案，我们对各种传感器配置进行了比较实验，显示了证实最先进性能的竞争结果。
Nowadays, SLAM (Simultaneous Localization and Mapping) is considered by the Robotics community to be a mature field. Currently, there are many open-source systems that are able to deliver fast and accurate estimation in typical real-world scenarios. Still, all these systems often provide an ad-hoc implementation that entailed to predefined sensor configurations. In this work, we tackle this issue, proposing a novel SLAM architecture specifically designed to address heterogeneous sensors' configuration and to standardize SLAM solutions. Thanks to its modularity and to specific design patterns, the presented architecture is easy to extend, enhancing code reuse and efficiency. Finally, adopting our solution, we conducted comparative experiments for a variety of sensor configurations, showing competitive results that confirm state-of-the-art performance.
