Initial Testing With Collected Data
Initial Testing
With two collected datasets, we can begin characterizing our SLAM algorithm.
Indoor
First, we will look at the SLAM solution using only the lidar data. This solution is shown below in the first figure. This figure depicts the generated map on the left and the pose solution on the right.
Lidar Solution
Fig 1 :: Initial indoor testing
GPS Solution
Outdoor
Now, we can look at the outdoor dataset.
Lidar Solution
Again, we will begin by looking at SLAM solution when only utilizing the lidar data. This solution is depicted in Figure 2. This figure depicts the generated map on the left and the pose solution on the right.
Fig 1 :: Initial outdoor testing