Lidar-based SLAM systems perform well in a wide range of circumstances by relying on the geometry of the environment. However, even mature and reliable approaches struggle when the environment contains structureless areas such as long hallways. To allow the use of lidar-based SLAM in such environments, we propose to add reflector markers in specific locations that would otherwise be difficult. We present an algorithm to reliably detect these markers and two approaches to fuse the detected markers with geometry-based scan matching. The performance of the proposed methods is demonstrated on real-world datasets from several industrial environments.

Abstract Summary: We introduce the tool mkESA, an open source program for constructing enhanced suffix arrays (ESAs), striving for low memory consumption, yet high practical speed. mkESA is a user-friendly program written in portable C99, based on a parallelized version of the Deep-Shallow suffix array construction algorithm, which is known for its high speed and small memory usage. The tool handles large FASTA files with multiple sequences, and computes suffix arrays and various additional tables, such as the LCP table (longest common prefix) or the inverse suffix array, from given sequence data. Availability: The source code of mkESA is freely available under the terms of the GNU General Public License (GPL) version 2 at http://bibiserv.techfak.uni-bielefeld.de/mkesa/. Contact: [email protected]