Realworld Experiment 2: Large Map

In a larger experiment nearly our whole institute building is mapped (80*60m, 560 landmarks). The experiment is challenging since the map contains three large loops.

attachment:mobilerobot_mappingdlrbuilding_240803_small.mpg

The resulting map.

mobilerobot_mappingdlrbuilding_map_240803.jpg

Internal tree representation of the map.

mobilerobot_mappingdlrbuilding_tree_240803.jpg

True map.

mobilerobot_mappingdlrbuilding_truemap_240803.jpg