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A SLAM Research Framework for ROS

Nowadays a framework that provides a common set of components in order to speed up SLAM research is not publicly available. The paper introduces a framework that is under development and provides a set of components that simplify creation of methods based on 2D laser scan processing. The description of tinySLAM and GMapping implementations atop of the framework is provided in order to justify its usability.

Robot Operating System users interested in development of SLAM methods is a target audience of the report. The framework intended to simplify and speed up the methods development and evaluation is going to be presented.

Dmitriy Kartashov

The Academic University


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