A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Object modelling by registration of multiple range images
Image and Vision Computing - Special issue: range image understanding
Towards a General Multi-View Registration Technique
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
Machine Learning - Special issue on learning in autonomous robots
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
A Solution for the Registration of Multiple 3D Point Sets Using Unit Quaternions
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
ICVS '01 Proceedings of the Second International Workshop on Computer Vision Systems
Fast global registration of 3D sampled surfaces using a multi-z-buffer technique
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Improving simultaneous mapping and localization in 3D using global constraints
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Multiview registration for large data sets
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Localization methods for a mobile robot in urban environments
IEEE Transactions on Robotics
PerMIS '07 Proceedings of the 2007 Workshop on Performance Metrics for Intelligent Systems
Appearance-based loop detection from 3D laser data using the normal distributions transform
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Study of parameterizations for the rigid body transformations of the scan registration problem
Computer Vision and Image Understanding
Active vision in robotic systems: A survey of recent developments
International Journal of Robotics Research
Three-dimensional SLAM for mapping planetary work site environments
Journal of Field Robotics
Robotic clusters: Multi-robot systems as computer clusters
Robotics and Autonomous Systems
Mobile robot 3D map building and path planning based on multi-sensor data fusion
International Journal of Computer Applications in Technology
A Scale Independent Selection Process for 3D Object Recognition in Cluttered Scenes
International Journal of Computer Vision
Frequency-based underwater terrain segmentation
Autonomous Robots
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A globally consistent solution to the simultaneous localization and mapping (SLAM) problem in 2D with three degrees of freedom (DoF) poses was presented by Lu and Milios [F. Lu, E. Milios, Globally consistent range scan alignment for environment mapping, Autonomous Robots 4 (April) (1997) 333-349]. To create maps suitable for natural environments it is however necessary to consider the 6DoF pose case, namely the three Cartesian coordinates and the roll, pitch and yaw angles. This article describes the extension of the proposed algorithm to deal with these additional DoFs and the resulting non-linearities. Simplifications using Taylor expansion and Cholesky decomposition yield a fast application that handles the massive amount of 3D data and the computational requirements due to the 6DoF. Our experiments demonstrate the functionality of estimating the exact poses and their covariances in all 6DoF, leading to a globally consistent map. The correspondences between scans are found automatically by use of a simple distance heuristic.