2022 IB Diploma Extended Essays

X Pose data

The first graph highlights the changes in x coordinates in relation to time for Hector, ORB and Zedfu passive SLAM algorithms. The graph demonstrates that the LiDAR presents itself as the most robust passive slam algorithm. The maximum and minimum of each point highlights the robot changing it’s coordinates with the x plane in order to make a turn. While the smaller peaks represent the robot correcting it’s path through the change in the x position. The smoother the gradient of the