2022 IB Diploma Extended Essays

Further Explanation of scale drift

Fig. 1. This figure illustrates a simple example where the path of the robot is suboptimal. Consider the robot moves along a straight line and after n poses, it makes a small angular error illustrated by the bold arrow but then continues without any further error. Both parts (labeled submap 1 and submap 2) are perfectly mapped and only the connection between both submaps contains an error. Thus,the error depends on the point in time where the robot made an estimation error without considering that it might not introduce any (further) error.

Pose linear data for hector slam

The trajectory of the robot in the Cartesian coordinate system (x,y)