Localization Performance of an Autonomous Forklift in a Warehouse Environment

This paper studies SLAM-related work, builds an experimental platform in an actual production environment, and designs experiments to compare several internationally leading commercial SLAM solutions with an open-source SLAM based solution. We also compare localization performance using a retro-reflective landmark system. Their key indicators such as positioning accuracy and repeatability accuracy were evaluated. At the end of the paper, the advantages and disadvantages of each SLAM scheme are comprehensively evaluated from aspects such as performance and cost.