The new simple and robust SLAM method (vinySLAM) has been developed at the Mobile Robot Algorithms Lab. It enhances tinySLAM with the Transferable Belief Model to improve its robustness and accuracy. Proposed enhancements affect scan matching and occupancy tracking keeping simplicity and clearness of the original code. The evaluation on publicly available datasets shows significant robustness and accuracy improvements.
The research will be presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), it will be held in Vancouver, Canada, September 24–28.