The efficient extension of globally consistent scan matching to 6 DoF
| Autor(en): | Borrmann, D. Elseberg, J. Lingemann, K. Nüchter, A. Hertzberg, J. |
Herausgeber: | Staadt, O. Kosecka, J. Gumhold, S. |
Stichwörter: | Algorithms; Data handling; Data visualization; Degrees of freedom (mechanics); Iterative methods; Metadata; Robotics; Three dimensional computer graphics, 2d lasers; 3-d scans; Closed form; Data association; Iterative algorithm; Scan matching; Simultaneous localization and mapping problems; Sparse network, Trees (mathematics) | Erscheinungsdatum: | 2008 | Herausgeber: | Georgia Institute of Technology | Enthalten in: | 4th International Symposium on 3D Data Processing, Visualization and Transmission, 3DPVT 2008 - Proceedings | Startseite: | 29 | Seitenende: | 36 | Zusammenfassung: | Over ten years ago, Lu and Milios presented a probabilistic scan matching algorithm for solving the simultaneous localization and mapping (SLAM) problem with 2D laser range scans, a standard in robotics. This paper presents an extension to this GraphSLAM method. Our iterative algorithm uses a sparse network to represent the relations between several overlapping 3D scans, computes in every step the 6 degrees of freedom (DoF) transformation in closed form and exploits efficient data association with cached k-d trees. Our approach leads to globally consistent 3D maps, precise 6D pose and covariance estimates, as demonstrated by various experimental results. © 2008 Georgia Institute of Technology. |
Beschreibung: | Conference of 4th International Symposium on 3D Data Processing, Visualization and Transmission, 3DPVT 2008 ; Conference Date: 18 June 2008 Through 20 June 2008; Conference Code:110221 |
Externe URL: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-84855877813&partnerID=40&md5=679443e511ec60049441437aa09dd36f |
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