Comparison of Uncertainties in 2D LiDAR Mapping Depending on the Sensor Scanning Frequency

Incorporation of 2D LiDAR (Light Detection And Ranging) sensors in indoor SLAM (Simultaneous Localization And Mapping) systems has become an increasingly common practice. The choice of these sensors is directly affected by the characteristics of the target environment. Among them, we may consider the scanning frequency of the LiDAR sensor. This paper analyses the influence of this parameter on low-cost 2D LiDAR sensors both from a computational standpoint and from the perspective of feature extraction in a mapping process. The experimental results suggest a relationship between the scanning frequency, the volume of processed data and the feature extraction uncertainty. It has been shown that lower scanning frequencies result in the detection of a larger number of features with reduced uncertainty.