Visualization of Simultaneous Localization and Mapping using SVG

Abstract

Robotic system often use simultaneous localization and mapping method in their operations. Most of the calculation stored as a nested array with multiple level and dimension. SLAM data contains robot movement, object detection and relation between them. This system visualize SLAM data into a map containing robot historical position,object position and relation between object and robot that show detections line from each robot position. The visualized so human eye can understand it. This paper describes the process of movement and detection data composition and conversion to prepare the information required to build a map. The map composed by plotting every movements and detections into polar coordinate area. The map stored into a database for flexible future usage. Commonly used web based interface chosen to display the map via web browser. The map generated by server side scripts that transform polar data into full map.