6D slam with cached K-D tree search
Autor(en): | Nüchter, A. Lingemann, K. Hertzberg, J. |
Stichwörter: | 3D mapping; ICP algorithm; Inductively coupled plasma; k-d tree search; Laser scanner; Robotics; Robots; Simultaneous Localization and Mapping (SLAM); Simultaneous Localization and Mapping (SLAM), Conformal mapping; Trees (mathematics), 3D mapping | Erscheinungsdatum: | 2007 | Journal: | Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics | Startseite: | 101 | Seitenende: | 106 | Zusammenfassung: | 6D SLAM (Simultaneous Localization and Mapping) or 6D Concurrent Localization and Mapping of mobile robots considers six degrees of freedom for the robot pose, namely, the x, y and z coordinates and the roll, yaw and pitch angles. In previous work we presented our scan matching based 6D SLAM approach [10-12, 16], where scan matching is based on the well known iterative closest point (ICP) algorithm [3]. Efficient implementations of this algorithm are a result of a fast computation of closest points. The usual approach, i.e., using k-d trees is extended in this paper. We describe a novel search strategy, that leads to significant speed-ups. Our mapping system is real-time capable, i.e., 3D maps are computed using the resources of the used Kurt3D robotic hardware. |
Beschreibung: | Conference of 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics ; Conference Date: 29 August 2007 Through 31 August 2007; Conference Code:74038 |
ISBN: | 9780889866850 | Externe URL: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-56149089678&partnerID=40&md5=ad6abc5c20e71ead37914119cdf2f231 |
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