Multi-Objective Optimization of RTAB-Map parameters using Genetic Algorithm for indoor 2D SLAM
Bibliographic record
Abstract
Currently, Robot Operating System (ROS) provides multiple packages to implement different Simultaneous Localization and Mapping (SLAM) approaches. To effectively obtain sensor data, these packages use parameters whose values are set from prior knowledge and experience with robots and SLAM. In this paper, using a Multi-Objective Genetic Algorithm (MOGA) to optimize the values for these parameters is proposed. MOGA allows trade-offs between the objectives using Pareto dominance techniques. Three parameters from the RTAB-Map package are considered for optimization using three different MOGA mechanisms, Dominance Count, Dominance Rank and Switching Fitness. The quality of the map generated for every set of parameters is taken as the indicator of its performance. The number of corners, number of contours and the proportion of occupied cells in the map are used as quantitative measures of map quality. Finally, results obtained from testing the algorithm in simulation are used to test a Quanser QBot2 robot.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".