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A New Implementation of NeoSLAM and a Comparative Evaluation with RatSLAM

2026-07-17 17:23:03
Joao Victor T. Borges, Fabio Coelho, Paulo Padrao, Jose Fuentes, Ramon R. Costa, Liu Hsu, Leonardo Bobadilla
arXiv_RO
       
Abstract

This paper presents a new implementation of the NeoSLAM algorithm. The proposed version is a complete rewrite of NeoSLAM into a modular architecture using modern frameworks that, together, enable real-time execution with minimal discarding of input data. This work also provides a comparative evaluation between NeoSLAM and RatSLAM across three datasets under varying environmental conditions. The experimental results highlight differences in mapping consistency and trajectory reconstruction, demonstrating the effectiveness and practical applicability of the proposed ROS2-based implementation. The results indicate that the new NeoSLAM outperforms the original in terms of processing throughput for real-time applications and achieves comparable performance to RatSLAM in terms of map reconstruction across the evaluated datasets.

Abstract (translated)

URL

https://arxiv.org/abs/2607.16143

PDF

https://arxiv.org/pdf/2607.16143.pdf

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