Heuristic-based laser scan matching for outdoor 6D SLAM

Autor(en): Nuchter, A
Lingemann, K
Hertzberg, J 
Surmarm, H
Herausgeber: Furbach, U
Stichwörter: Computer Science; Computer Science, Artificial Intelligence; MOBILE ROBOT; REGISTRATION; SIMULTANEOUS LOCALIZATION
Erscheinungsdatum: 2005
Herausgeber: SPRINGER-VERLAG BERLIN
Journal: KI2005: ADVANCES IN ARTIFICIAL INTELLIGENCE, PROCEEDINGS
Lecture Notes in Artificial Intelligence
Volumen: 3698
Startseite: 304+
Zusammenfassung: 
6D SLAM (Simultaneous Localization and Mapping) or 6D Concurrent Localization and Mapping of mobile robots considers six dimensions for the robot pose, namely, the x, y and z coordinates and the roll, yaw and pitch angles. Robot motion and localization on natural surfaces, e.g., driving with a mobile robot outdoor, must regard these degrees of freedom. This paper presents a robotic mapping method based on locally consistent 3D laser range scans. Scan matching, combined with a heuristic for closed loop detection and a global relaxation method, results in a highly precise mapping system for outdoor environments. The mobile robot Kurt3D was used to acquire data of the Schloss Birlinghoven campus. The resulting 3D map is compared with ground truth, given by an aerial photograph.
Beschreibung: 
28th Annual German Conference on Artificial Intelligence, Koblenz, GERMANY, SEP 11-14, 2005
ISBN: 9783540287612
ISSN: 03029743

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